Selecting Data from 2 Dimensional Empirical Data Set in Excel

I have a set of efficiency values based on 2 dependent variables (speed and torque). These numbers are provided from the manufacturer and I want to fit the efficiency values to a set of personal test data points (e.g. the singular data point shown in the bottom left of the following image).

This image shows my problem (where the efficiency values have been randomized to retain confidentiality):

Is there a way to use the RPM (x-axis on data set) and torque (y-axis) of my data point(s) to select the corresponding efficiency value in the heat map? For simplicity, we can round the RPM and Torque of my data to use the closest value matching the axes of the manufacturer data.

Thanks in advance!

EDIT: I can also brute force the column and row values, then concatenating them to get the cell name of the value I want, by doing the following, but this requires a LOT of operations for each data point, of which there are many thousands, so this is not ideal by any means: