Popular Mechanics Magazine had an article 20 years ago that tested many solutions for breaking rusted objects free. It's a simple 50/50 mix of Acetone + Automatic Transmission Fluid.
My radial arm saw always cranked up and down with extreme difficulty, though it never seized. I poured the acetone/xmission fluid mix down the radial arm shaft and half an hour later it was cranking like a dream. It works wonders on seized rusty nuts and bolts. It was far better than all the commercial sprays for rust fixes in the Popular Mechanics test.
Good luck with your PTO shaft.