Never should have to beat the pins out. Here is how to do it
If the pins are tight, have the DW get in the vehicle and start the motor. Have her put foot on brake and then put it in forward gear. Try to remove pins. If that doesn't work, have her put it in reverse and try again. If that doesn't work, put vehicle in neutral and then slowly turn the steering wheel to one side. You should see the tow bar relax. If not, turn the wheel slowly in the other direction. You might have to use a combination of turning the wheel and forward/backward at first until you get the hang of it.
Been doing it this way for 14 years and over 160,000 miles towing and have never had to beat the pins out