Ever since I bought my 4th Gen (a year ago) I have had to keep correcting the steering wheel to keep the car straight on motorways. I am also getting 4WS error code 20 (angle sensor) every 200-300 miles and then reset it. I got use to it and then after got brand new tyres fitted last week, I decided it was now time to get it tracked.
I went to Apex in Peterborough who do 4 wheel tracking and have experiencing in 4WS tracking.
The front was out but wasn't that bad. The rears were are more out, rear drivers side is the worst and explains it pulling to the right and why I have to correct the steering. See below:

However, he was unable to do the rear tracking as the track rod nut is seized on to the 4WS arm. He tried to heat it up to red hot but it still wouldn't budge. I'm not sure what needs to be done, not sure what to do, can any one give me some advise please? They are saying the complete arm might need replacing which I think would is extreme let alone expensive.
See below picture:

Any advise would be appreciated.
Cheers