I use a torx T20 or T25 (don’t remember) in a quality power drill (good power control). Place the torx at the allen key hole, and firmly bump the drill at the back ones to seat the torx bit in the pin/allen key. Then just unscrew it, remove the pin, and then the stud.
Usually possible to re-use the stud and pin. Place the stud where it shoul be, and puch the pin in, use a dead blow hammer if needed..