Knipex or Vessel vampliers is what i use when i can get to them on a plastic manifold. Break it loose with the pliers, then back it out.
Those bolts are pretty soft, usially you can peen it inward by tapping the bolt head with a punch and a hammer. This denting in willl allow you to drive a proper fitting 5mm bit in to it, and extract it.
The torx bit drove in it works well just be very careful on the plastic manifold. Dont hit it too hard.
Plenty of specialty sockets from irwin, gearwrench and grip tools designed specially for such situations, but tend to be a little pricey.