Slip the shaft out and plain old force and ignorance
im sure you can, "cork" it a bit to relieve the slackI attacked it with an angle grinder in the end and tapped it out through the bottom opposed to pulling it out. Was seized in solid.
The Yaris one I bought doesn’t sit flush as the oem one. So unsure whether or not it will throw another fault code. Will update further when I take her out for a spin.