I'm guessing that the keeper bolt on the RIGHT can be removed without hitting the drawbar bits. If so, then that pin's inner bracket's tab gets rotated down so that it/pin can clear for pushing out. Penetrating fluid, a few shocks, and if you can get a clamp on there to help push on the outer threaded end (with the nut spun out to the end- something that you should look to do FIRST, before removing the inner keeper bolts) I think that should do the trick.
I had a keeper bolt eject itself on my NK5510 and the pin dropped out (being a newer tractor it wasn't frozen in place0. Obviously, in my case, plenty of clearance

(I was lucky that the pin ended up resting on the drawbar frame)