I have to do ours. I already replaced one (after about 6 years of life, it’s damp round here) and I was only able to remove the old concrete because by chance it had cracked down the middle and was a very irregular shape, so I could smash it into bits. The next one (12 years of life) I couldn’t shift at all. So I ended up removing the rotten wood from the old concrete lump by hand. The new post was smaller, so I wedged it in place.
Digging was made harder by the fact I was trying to replace the post with the fence in situ, so I couldn’t really work around it well.
I’m tempted to redo the lot with concrete posts (won’t look so bad with wooden fencing on it). I have a feeling that it will be a lot easier to dig the concrete out when the whole fence is gone, and because most of the posts are still reasonably ok I might be able to use them to lever the concrete out.
I probably won’t mind losing the biking time since digging out fence posts is better weight-loss exercise than biking!