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I've used a punch driver.....I think that's what it's called. You put a socket or a screw driver bit into the end and then hit the top with a hammer. When you hit it, the tool will rotate the socket , like a hammer drill. I've taken off exhaust manifold bolts from other cars that hardly resambled their original shape. It amazed me how well this simple tool works.
I"ve used them many times with great success... I always called it an impact driver though. The impact force of the hammer along with rotation has broken many a stuck screw/bolt free for me.