I've pulled dozens and dozens of these on broncos I have parted out or worked on and have never had one I could not get off.
Step one, get a pitman arm puller
Step two, loosen the nut but DO NOT REMOVE IT, leave several threads engaged as was mention (will prevent the crushed foot or other destruction)
Step three, take a grinder and grind flats on two sides of the pitman arm and try to chamfer the top corners where the newly ground sides meet the top surface. This will allow the pitman arm puller to slide ocer the width of the arm and will keep the puller pulling on the flats of the fingers rather than the radius of the puller fingers.
Step four, tighten it with an impact or breaker bar. This will often do the job, if not, take a BFH and hit the pitman arm opposite of the steering arm. Do this WHILE the puller is in tension. It may take a few hard hits, but it will come off.
This same technique can be used to break most any taper fit such as tie rod ends in knuckles (simply smack the knuckle on the end of the steering arm) or on the pitman arm to drag link connection.
I do not recomend heat since there is a lower seal in the box that can be ruined. Exccesive heat could also damage the shaft.
Only once I had a box where the taper or box machining must have been on the limit or out of tolerance. On this box I could not get the fingers of the puller between the pitman arm and the end of the box housing. I ended up taking one of my pullers and slightly grinding down the fingers so I could get it in between them.
Good luck