Could be that jacking it up as indicated above will allow the bolt to drop in without undoing anything cause undeniable the engine shifted a tad from its original location w/that bolt missing.
If you don't have a jack, but have the bolt, set the parking brake, have a confident helper apply the foot brake, start it, power brake it in drive (just off idle) and it'll lift right up. Insert a long drift, punch, or something with a point on it to align it and let off the gas aloowing it to settle back down and insert the bolt.
Of course there is some risk that it could get worse too, but it sounds like you're driving it this way anyways. . .
Is that scuff across the top from trying to pry it or did that happen some other way? The bolt from that hole is like 45mm long, but I guess the engine slamming down on the mount could pop it out pretty easy.
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95 Cam, V6 1MZ, Auto A541E, LE >245,000 miles!