Yes. I've managed to drive it in pretty tightly. I can twist it with the vise grips but no pulling out. I went to HF and got a kit with a selection of punches that have a little tip. No luck moving it from below with the other punch still stuck.
Just a couple of thoughts.
Given you can twist it with the vise grips, that's pretty positive.
Any chance of twisting the vise grips while levering under the vise grips with say, a tyre lever?
Support the u-joint yoke with a block of wood. This allows the force of the hammer blows to go where it's needed without stressing the output shaft etc.
Other options if worst comes to worst:
1. Break off the punch and proceed from the other side. The punch remnant may be too jammed in there to push all the way through from this side. Punches are cheap enough.
2. Weld a nut on top of the punch and use a slide hammer . . if you've got one of course.