What follows is a permanent fix, meaning you will probably never get the legs out.
Once the legs are out of the socket, I straighten with a broom handle as suggested. Make sure you can see where the dimple in the leg socket made contact with the leg.
I then cut 3" pieces of 3/4" conduit. Using my bench grinder, I create a flat spot on the side of the conduit. Insert the conduit in the reshaped leg, making sure your flat spot lines up with the where the socket dimple made contact. Using a some spray lube and a rocking motion, insert the leg back into the socket. If it doesn't want to go in at all you don't have a deep enough flat spot, or it's not lined up right.
When you do get everything right and the leg finally gets all the way in, that sumbitch ain't coming back out, and your grill sure as hell won't wobble.