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Its recommended you put the shifter into reverse while doing this so you dont have to line it back up later. I think that also takes some lateral pressure off the pin. Are you doing that?
I always held the shifter firmly in reverse (pushing the gear shifter forward) while holding the pin in place with the same hand. Then just give the pin some really hard taps.
I was using a rubber mallet too because I was scared of damage, but turns out the rubber absorbed too much force. So thats another thing to consider.
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