I totally wouldn't drive with one bolt it. If it slides down you might not be able to get it in first or second gear.
We all had trouble getting this bolt in bit it's doable. You'll need to get one side in just a couple threads then do the other one. I used a deep socket and extension to help pry the bolt over as I got the threads started on the second bolt. Once you get them both threaded in, then start to tighten them. It's definitely tough on jack stands but that's how I did mine so I know it's possible, don't give up man!!