Hi
I removed my FH rusted swinging arm pivot by the following, laborious but successful method:
With the frame laying on it's side and the nuts removed from the pivot pin, liberally soak the pin with penetrating fluid, (I use a 50/50 mix of acetone and ATF). Leave for 24 hours then turn the frame over and repeat from the other side.
Using one of the domed nuts try to get the pin to move by tightening the nut, if it moves half a turn stop tightening and swap the nut to the other side and try to move the pin back again. Keep flooding the pin with penetrating fluid as you go.
Gradually increase the amount of movement on the pin as you draw it from side to side being careful not to draw it so far as to be unable to fit a nut to the other side to return it, the pin will get easier to move. When you think the pin is moving fairly easily try to move it by hitting the domed nuts with a soft hammer. If you can't move it with the hammer go back to jacking it back and forth with the nuts and lubricating until it can be.
When the pin is moving fairly easily start fitting spacers to one side to increase the amount it is withdrawn, not too many just enough to extend the withdrawal degree and still allow the pin to be tapped back in again. Keep gradually extending with spacers, (washers, nuts, sockets, tubes), with drawing then tapping back whilst continuing to flood with fluid until you feel brave enough to withdraw it the whole way.
It's a good workout

and as long as you can get the pin to move initially it will work. I was lucky and able to retain the bushes

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The pin was cleaned up as was the spacer, (in situ), and re-used too.
You could try the same method on your footrest rod but if Simon is correct and you footrest rod ends are bent, I'd straighten or remove one end and then draw it through if possible rather than cutting the spacer.
Good luck Mick