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John,
Agreed that you cannot tap on the bearing cup from the inside, but at the bottom of steering box if everything for the light switch is removed the bottom of the worm gear is exposed. You can take a good sized hardwood dowel placed against the bottom of worm gear and have at it with a heavy hammer or sledge. By doing so you will be exerting upward pressure on the bearing and bearing cup. Sure, you will have to replace the upper bearing by doing so, but it is highly likely that is in the cards in any event.