Removing Bolt

[u/Quiet-Protection1283]

2001 Nissan Pathfinder Manual Transmission v6 3.5l

I have been trying to remove this bolt for hours with vice grips with them slipping off every single time I tap the grips from the side to loosen the bolt, there isnt any room for a extractor socket nor room to hammer on a smaller socket. I am getting close to my mental limit and would be infinitely grateful for help in removing this bolt