Ends are definitely peened, and must be ground off. Sometimes it's easier to repeat several times, ie grind as much as you can without damaging the hub, back the studs out as far as they will turn, then screw them back in and grind some more. That way you get some room to grind the stud away without cutting into the hub. The hub will crush the peened area inwards.
Thread is 7/16-20 UNF. With persistence it can be done on the car, but my preference is to pull the axles out. That unfortunately means you will need new lock tabs. Might also be a good time to change the inner oil seals if they show any signs of letting gear oil into the bearing grease. Don't try to separate the hubs from the shafts, though.
Since the old studs are ruined anyway (cannot be reused once removed), you can just grab them with Vice Grips if you want. I've even been known to use a pipe wrench.