Solved it. Thanks for the ideas. I put one half of one of the U-joint clamps on one end, then bolted that to a section of 2x4. I hung the shaft, steering wheel end down, filled it with PBBlaster and let it sit all day. Tonight I clamped the 2x4 in the vise, heated the outside shaft, put the steering wheel on and turned. It came right loose. Lots of surface rust to clean up, but all looks great now.
After cleaning it I think I'll use some waterproof grease which hopefully will prevent any re-occurrence.
Cliff