I was once working overtime on an emergency repair as a machinist's helper in a refinery, and we had to stand around waiting for the engineers to decide what to do. While we were waiting my machinist took a bent lawn mower crank from his locker, chucked it in the lathe, heated it, gave it only a few strategic raps, and it was straight again. "Lucky," he said, but I was still impressed enough to remember it from some 53 years ago....
I wish I would have taken a video of my grandpa's cousin straightening my H Farmall's pto shaft... it was bent to roughly a 45 degree angle, I thought there was no fixing it and it was an earlier/harder to find 1 1/8" shaft. Same thing, gave it a little heat, tweaked it here and there and it was straighter than an arrow

We lost him this past year, gonna miss having him around!