This is an old post but I will hopefully help someone in the future. For over 60 years I have been dealing with this problem of removing pins, screws etc that do not want to move. I have tried about every means to get the task done. When it comes to the final option of drilling them out, there has been the fight of getting the hole where you want it. A couple of years ago I was watching a Youtube video of various methods and there was one particular tool that impressed me and it was inexpensive. It is used to drill guide holes for hinge screws, but the presenter said it was the best drill aligner he had ever come across, I agree also. The first thing you need to do when you get one is scrap the cheap drill bit that comes with it and replace it with a quality bit. In the past few years I have used it a number of times with success. Here is a link to the tool. Best of luck
https://www.ebay.com/itm/15pcs-Self-...0c8d0b14cf6a4b