Pitman arm removal

With a pitman arm removal tool. You can buy a cheap one at the auto parts store or most have ones you can borrow with a deposit. You are not going to get it off any other way (without incurring damage to one or both parts) so either buy it or borrow it.
 
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Can rent you one for free
From Autozone Rent-A-Tool

Just have to pay to rent it and you get fully refunded when returned.