There isn't any type of special removal available for a stuck Yakima lock core, as it sounds like you tried the only remedy that we generally suggest, which is a lubricant. Otherwise, the only way to remove it really is by having it drilled out; while you may be able to do this we recommend a locksmith so no parts of the rack get damaged.
Once it is out safely you can replace the cores with the Yakima Same Key System (SKS) Lock Cores (QTY 4) # Y07204 or (QTY 2) # Y07202.
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