Sure you can usually use the insert tool. Turn it so the spike end is curved towards the shaft wall then push down one edge to get it between the shaft wall and the foam. When fully down twist the tool so the spike is now into the foam and keeping pressure against the foam extract slowly till some of the insert comes out. Sometimes they can go all the way down f inside wall has grip solvent on it. Then I use the long special shaft drill 4ft or so and with luck it catches the insert and twists around the drill allowing it to be extracted. This will destroy the insert but they are cheap anyway.
