I've done many of these and never had to stake any of the pins. The splined area at the top of the pins should be enough to hold the pin in place. The biggest problem I see is that the pins are rarely ever kept lubricated. This causes the pin to start turning on wearing the bushings and then slipping up.
But if you must secure the pins in place, you can drill a small hole in the pin, then insert a cotter pin or something through it. This will keep it from slipping out for sure. You'll probably never be able to crimp the pin. It's just too hard.
- AX
77 Trans Am Restoration Journal