WD40 or equivalent a hammer and a soft drift usually works, drop the bottom ball joint and the steering ball joint. pull the hub away from the car and sit it on an axle stand, don't bash it into the diff. Moving on from that a hydraulic puller will shift it. On reassembly clean and grease the male and female splines.
You can do the lower joint without pulling the driveshaft, it's a bit more fiddly.