I’d try a puller. There is no key way or grommet, simply a taper on the end of the shaft with knurls on the face to keep the arm from slipping, then the M6 stud for the nut protruding from the taper. Most likely the corrosion has bonded the shaft (steel) and arm (aluminum) together.
A puller can put constant force on the interface without stressing the shaft bushings or motor mounting points.
The new arm won’t have mating knurls, you just get the angle right then tighten it down and the shaft knurling imprints into the taper in the arm. I had hell getting the angle just right.. had to redo it three or four times to get the park position truly horizontal. I used the knurling on the shaft to scrape the arm socket smooth again then cleaned the aluminum out of the shaft knurls, installed, adjusted and retightened.