I cut a heavyish nail cut off about a 1/2” long and ground it flat and put it on one side of the cross pin in a vice. I then put a small socket on the other side. Close the vice around both sides and it will start that pin moving which seems to be the toughest part, breaking it loose. Once you get it close to closed down or the mail bottoms out on the leg back it off and throw the bipod leg in a glove or leather of some sort to cushion and protect it from the too-hard-vice jaws, close it in the vice where it is close to the pin so that there is not very much leverage on the leg since that rubber boot isn’t even and won’t apply presser evenly. Use a punch and hammer to drift it all the way through.
I have pinched the pin end closed to make it smaller but not so closed that you make it oblong and then I’ll run the pins outer edge over a grinder to chamfer it to make it easier to start/reinsert. Don’t deform it too much, just enough to close that 1/32” gap.