Hit the bottom (metal) part of the hitch with a hammer. You can hit upward and side to side gently and it should pop out. Do this while holding the knob outward to detach it.
Somewhat awkward but it'll come.
I store my hitch in my garage so it doesn't try and weld itself in.
I just went through this with mine - the pin and retraction mechanism had gotten a bit corroded. It took a while to get it to move, lots of tapping, even removed the cover to the mechanism and squirt some miracle oil. I no longer leave it on the car.
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