I've never tried to remove the crank key on a motor while it was in the car. Depending on how tough the key is to get out, you may be able to clamp onto it with a couple of pairs of Vice Grips and wiggle it out, but that's never worked for me. A machine shop will likely have a threaded clamp of some kind that will hold much more firmly.
I've seen some keys removed in the past by tack-welding a bolt to the key, and using a slide-hammer to remove the key. This will usually work, but it will destroy the key and you need to be extremely careful about not putting too much heat into the crank.
g'luck.