You probably will need to drill the end of the pivot pin to get it out as it's "riveted" ......
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The above two pics are of XS1100 pegs but the 650's are attached the same way. For re-mounting the new pegs, you may consider a clevis pin instead of a bolt. The XS850 used these .....
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Yamaha still sells both of these pins but it would be much cheaper just to buy a bag of clevis pins of the proper size.
The price of original footpeg rubbers has gone way up (to around $40 each). Seeing as how I wouldn't pay the $24 asking price from a few years ago, you know I'd never fork over $40 for one, lol. The aftermarket ones are junk, wearing "bald" in just a year or two, so I watch eBay for deals. I managed to score 3 N.O.S. XS1100 footpeg assemblies about a year ago for only $12 each. I'm going to try to press the pins out on my hydraulic press, maybe I can save them for re-use. But if not, I already have a bag of clevis pins to use, lol.