You can get a Lennox Arbor 5L which is basically an open end gadget with a set screw. But the soft metal of a Tapcon would likely yield before extracting. Grind off the head, jerk the piece out and break off, or grind, the old anchor back to the substrate.
I have no use for Tapcon anchors. I can achieve equal fastening with a quarter inch sds bit in a rotary hammer, driving any combination of 16d and 8d nails, depending on the thickness of the wood.
To me, Tapcons are as useless as powder actuated nail guns. Too complicated and expensive. Too much trouble.
Eh....say Teetor...has my talk got any of those old Tapcons out yet? Hate it for ya.