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It is not safe to drive. That #5 bolt is not rated for the stress put on it and will likely break and cause the spindle with the wheel attached to either collapse inward or flop outward depending upon if you are turning and which direction you are turning when it decides to break.
A new cam bolt is around $25 and a shop can get one in about 3 days when ordering. You should not drive it until a new cam bolt is installed
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