Dropping the shaft and making a tool to push it out is the only way, but still all that effort for a 21+ year old abs sensor that can fail at any time and can be replaced for £30ish.
I had the same problem as you and it was the sensor. Think about the cost and risk involved with rounding off or snapping the driveshaft bolts etc, it's much safer to spend the 30 on a new sensor.
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