Let me guess, you're trading in your S23 and were curious if it would fit and somehow missed all of the warnings saying not try it because it gets stuck in there? So now of course you want to remove it without damage.
Super glue and picks and such would all likely work but don't underestimate the power of hot glue. Those other methods are likely to scare the pen or worse damage the port, even minorly of your new device. Sure the damage might only be superficial and not ruin anything but hot glue would peel away and can be removed cleanly in most cases. If you've pushed until the top bottomed out, hopefully it will be in pop-up mode vs lockdown mode where it stays short when released. Then I would use a chopstick maybe or something with a flat surface so that you have the largest contact area possible, squirt some glue in there, apply your tool of choice, and then like they pop dents out of cars, pull back in one smooth quick action and hope it pops up and comes out.
Since this was going around on reviews I watched on YouTube, it's a known issue, YouTube might have the solution. It's worth a look.
Best wishes.