Had the same problems with mine several months ago.
Used sea foam Deep Creep penetrating lube and gave it an hour to soak. Then air chisel broke it free.
Lots of good info here
Steering Column U-Joint
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2004 4Runner Limited V6 4WD ***SOLD***
385,000 Km
Titanium Metallic
Vehicles: '21 Highlander XSE V6 AWD | '21 Acura RDX SH-AWD Tech | '03 Honda CBR600F4i