pretty common for the either the bolt to break off in the pin or the head to round off. Thats why it should be replaced everytime.
Get a good set of vice grips and go to work, be careful about metal shavings falling into the gears, be sure to pull them clean off and replace the fluid.
You'll need a new pinion shaft lock bolt, ford PN D8BZ-4241-B. I paid $1.83 at the dealership, comes with thread locker already applied. I think the torque on it is 15-30 lbs