I can't say I have ever had a problem removing the collar off the shaft. I usually tap the flat blade of a screwdriver into the cut and spread it a bit.
On a proper cross shaft the bogie would just slide off. However on a length of rusty pipe the results are obviously different. Pull the grease fitting on the bogie assembly and fill the hollow with penetrating oil. I would suggest the first step after that would be to get the bogies to rotate on the shaft. You could cut the pipe off and then use a pipe wrench on the remaining stub. Once you get it to turn, you might be able to work it out.
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