So, they came off with an "all of the above" approach.
1) Working the rust off the exposed part of the shaft was a big help. Moved easier, but it was still tight and jammed a little further down. I probably should have worked on it a little longer with the sandpaper.
2) I was working in the driveway and it was 20 degrees out, so no way I was putting hot water on there. But I did find that a heat gun loosened things up.
3) Coupla drops of penetrating oil also helped.
4) After each impeller was part way off, I could get behind it with a flat pry-bar, which let me push out on the impeller at the collar on the base that the shaft goes through (rather than yank on the outer edge, which, while surprisingly durable (!), still looked like it could break.
5) I did not do as good a job of cleaning the exposed shaft on the passenger's side. But by then I had the passenger side off and the motor unscrewed from the heater box. I was able to place a flat bar behind the flutes on the impeller, and drive the shaft out the last fraction of an inch with a punch.
So far, this has been the hardest part of the job. The rest has just been complex and time-consuming.
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