Hello again team of amazing nautical adventurers!

My autopilot is still the bane of my existence....
I have diagnosed that my old Rathyeon type one drive in the lazurette is cactus.
Im trying to remove it but as I have found with most things on my boat, removing things for maintenance is extremely difficult.
The half inch drop in pin that attaches the drive arm to the rudder mount has in some way amalgamated to the drive.
Tried PB Blaster, Hammering, Clawing to get it out to no avail, also its in a really awkward spot for someone that is 6'1.
Any suggestions before I pay the boat yard a ridiculous amount of money to get it off?
As always thank you all so much in advance.
Cheers
Cam, S.V Solasta MDR