IIRC we've been "stuck" exactly twice in 20+ years of RVing, and I mean really stuck. One time I was driving and the other time my better half was driving, and the two episodes were approx 15 years apart. In both cases we'd entered a relatively narrow fuel aisle at an angle and on very uneven ground (virtually on a hill). By the time we'd committed and found someone ahead of us unable to move, it was too late.
Both times occurred before I'd switched to an all-terrain tow bar. Removing the pins was nigh impossible, and I had to resort to a hammer and punch, with someone in (the) toad with the engine running and in reverse, taking pressure off the pins. The second time it happened, I first tried having another forum member hold the steering wheel in the toad, both with and without the engine running (and power steering on); It was hopeless, for all the reasons stated by various folks.
I carried a hammer and punch until I eventually switched to an all-terrain tow bar. Another trick (learned from forum members) that has helped to free the pins on 'standard terrain' tow bars, but not in extreme situations, is to rotate the steering on the toad side to side; It doesn't take a lot of movement.