Lets see a pic of the stuck driveshaft extension. Your diagram isn't showing what you are having trouble with.
The extension slides in the end of the driveshaft, matching the spline. Put the lower unit in a vice with some wood clamping the driveshaft, heat it and use a crescent wrench adjusted so is just loose on the driveshaft and tap the extension off, using a hammer if needed. Soaking the joint with your favorite rust loosener solvent may help.