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The shaft should collapse just enough to get it off the PTO end.
The other end, , you should be able to drive the U-joint apart. Then use a puller to remove the yoke.
If your winch input shaft is really bad, it may need replacement.
The yoke with the shear pin hole can be replaced. Fleet...
Sounds like the PTO lever linkage was incorrectly adjusted, for the neutral position/lock plate.
I've seen that before, and the resulting winch damage.
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