Sit in on a strong bench or the floor, Put a large socket under the joint and hit the top with a socked and a 3 LB hammer. It is helpful if you have a helper that can hold the shaft from moving around on you.
If you cant get them to go, bring them some where that has a press. I have never had to press them out, I have used a press but it was just for convenience.
Artificial Intelligence is no match for Natural Stupidity