Yeah, I would have tried to fix that while the arm was still on the tractor. Some combination of large c-clamps, heat, and a big hammer would get it done. If i DID take the arm off, i would just feed it through my 20 ton shop press and fix it there.
I think what really needs to be said though is not how to fix the bends, but that a longer pin should be used this time with some kind of pins/bolts on BOTH sides. That simple design change would have prevented this from happening in the first place.
Something i've done is just get a shaft collar from tractor supply or whatever, weld it on the outside of the other bracket, drill a hole through the pin starting from the setscrew hole in the shaft collar, out the other side, and then put a big cotter pin, lynch pin etc through it.