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Spray some silicone on the rubber bushing and then press the tip of the arm thru the hole with a pair of channel-locks.
Yup that's how I do it too, one jaw on the end of the link, other against the tip of the post. Gotta have the right size par to get it there right to do it.
You can also use an appropriate size pry bar working it between the link bar and shift arm but same as using channel locks, gotta pay attention and watch, go easy while prying it off the tip.
The linkage bar will try and flex/twist on ya if to far from the post or go at it to hard and fast rather then just pop off. Its gotta come straight off the post, any amount of flex in the link bar any direction just add a bind causing it to dig in more, that will work against ya and possibility even tear up the bushing.
Keep in mind, at the same time that bushing, its pretty dang tough.
Rezvani's Latest Post-Apocalytic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.