Updating this for anybody else that comes across this post with the same issue.
I finally got the cable out and should have done it this way from the start.
From the pump side, use a dremel tool to cut down the 2 plastic half moons held on by the metal collar. Once those are cut away just use needle nose to pull the metal collar off and slide the rubber grommet/seal off the shaft. Then take a hammer/mini sledge and just beat the steering cable back into the hull. All this took about 10 minutes and is way easier than fighting the bitch from the inside of the hull.
You can then buy new plastic half moons, the metal collar, and rubber seal from OSDParts for $18.