I took the steering wheel off my truck a few years ago. I have no reason to believe it had ever been off the column since the truck was built.
It came right off with no struggle at all. I had a puller from Advance Auto attached to it but it really wasn't necessary. Like you, I thought it was going to be rusted in place or something so I applied PB Blaster prior to attempting removal. Maybe it helped but I think it would have come right off regardless.
You should not need an impact wrench on the single nut holding it in place. Just use a proper steering wheel puller so you don't damage anything.
