My hitch was absolutely stuck in place when I purchased my LR4 back in 2022 (also no key); if you remove the pin as mentioned above you will see something like this (you can see the small hole on the silver shaft where the spring pin goes through):
I was then able to remove the plate which is on the other side of the hitch (not shown in the photo) and the shaft can be removed:
I then used pb blaster for days to try and get it to unseize!
I was then able to hammer the main retaining pin from where the spare wheel is located and eventually removed the hitch. I unfortunately didn't photograph my journey but I spent a lot of time pulling the internals out and working to cleanup corrosion, I recall it being a challenge but eventually and with lots of grease I got it back to smooth operation. You will be dealing with three different shafts; two horizontal (one of which is the one removed above) and one vertical along with a ball bearing. I'm sorry that my memory is vague on this. One other thing, when it's working; you need to pull the knob towards the passenger side to get the final portion of rotation and therefore main pin retraction to actually get the hitch to withdrawal (it's hard to explain so sorry this description is not great!). Good luck.