I have never encountered one I couldn't get off. Manual steering does seem to be more difficult. Forces applied generate more distortion and/or burrs in these ? I don't know.
I have needed to put the front end on stands so I could rotate the coupling and attack it from different positions.
Only 3 bolts and a ball stud holding the gearbox in there. That would require jack stands.
Then at reinstall, proper torque of its footprint to K member so those bolts don't work loose, and clocking centering check before reattaching the column and wheel. Good luck with it.