Are you trying to make a work of art or just straighten the 2 legs?
It's a mower wheel not a lunar landing craft part
The bent square stock is going to be a little deformed, but not even a need for hammer imo, just get it hot enough while securely held down and you would be able to move those pieces to close enough to their correct position, by just grabbing the ends and pulling.
May not be pretty but it will track straight. and yes you will be surprised by how easy, with enough heat and that much leverage, it is to bend thick steel.
How thick is that anyway? 1/2" ? Sorry if you mentioned already, but if it's just 1/2 x 2 like it looks, you don't want it so hot so it bends like clay,(regardless of it's thickness) you want it just hot enough so it takes a little effort to move it so you don't go too far, but also so you don't overly traumatise the material. Though metallurgy is not too critical for that part.
If you don't have a vise big enough or even if you did, you could install it upside down in the mower and use the mower/ tractor as your solid holding point. You do need the 2 legs close enough for the axle/ shaft /bolt to align so have it handy and check it. I would try to do both at once with the bolt and a spacer in place. but that may or may not be possible.
You could always do the quick and dirty, and find a stump or a tree and force it back cold. or a chain and a comalong etc.
Good luck!
Edit: cowski beat me to the idea of using the mower as the vise, I'm a slow typer. I would probably do that way even though I have a monster vise and steel bench.
Just slide in to the receiver as far as it can go so you don't work on the tube.
JB