There is also a puller tool...comes as part of some of those "front end rebuild" tool kits that you can rent.
The tool is basically a C-Channel, with a bolt through one of the C-Chanenl flanges. The flange on the opposite side of the bolt has a notch cut it in that will straddle the ball of the pin you are describing.
A couple of extensions weaved up through the engine bay, around the exhaust, and you can turn the bolt standing up.
Here, I found an image of what I'm talking about on ehay:
http://zdmak.com/wbstore/images/WW8832055.jpg
I just don't like the idea of banging on safety critical parts any more than is necessary. It could introduce cracks/stress fractures into the steel, which could cause a failure down the road, causing you to not be able to steer.