So I was able to get the bolt out. Had to pry on the rim and hit it with the impact.

Bolts were stock, rims were different. I will either order 15mm spacers or get shorter bolts now. I have 10mm spacers for the front.

The lug bolts did seem a bit rough after this mishap. Everything else looked fine, but it was late and I was frustrated. It seemed like the bolts just bolt onto the rotor. Would I really need to replace the whole axle shaft?

Thanks!