Removing dowel steering shaft

You need a press. You might drive it out with a big hammer and you might drive a new one in too. The hard part will be getting it centered. I don't know what the tolerance is/was but if you measure it before moving you'll find it is centered.
If that pin doesn't show excessive wear, you can just leave it. Drag the shaft out the bottom to replace bearings. That is how the factory built the column.
I have replaced only 2 of these pins for excessive wear. I pulled the shaft and took it alone to the workbench. The first time I did have a press. Setting up to press it in to centered wasn't so difficult. The second time I didn't have a press. Can't say how many times I knocked the pin this way and that before getting it very close to centered. Can say a press is the way to go.