I agree with staying with the "spline" drive head style of bolt. German engineers do not do or use something unless there is a very good reason for it (believe me; I have worked enough with German engineers to understand this).
If, as suggested, you knock the head off this bolt, then remove the rest of the bolts you should be able to slide the CV off the remaining bolt shank. It should be east to remove the remaining bolt shank after that.
The torque readings in the books say either 25# or 32# of torque (depending on which book you look in). After having one set of bolts back out (not uncommon) after a 25# torque, I was told to go to the 32# torque setting, then double check it for a while (I also used a dab of Locktite [reg] but not everyone recommends that). Since then I have not had a problem nor have I been stranded out on the sand with a drive axle dangling down.
There is a special set of washer designed for Allen Head/"spline" drive (small head fasteners) fasteners, if you can locate a set, that fit snugly under the head of Allen bolts. A lot of off-roaders use these if they don't use the load bearing/distributing strap that your pictures show that you still have. The washers come in a bag of 100 and are a little expensive (reminder to me: I need to get a bag of them. I split a bag with a friend but I am working on another project that needs new bolts and I need to know where he got them

).
I hope this helps.
Lee
Edited once to clarify a torque reading and change the type of head (over the years I got too use to refering the small head bolts as Allen Head fasteners. We were not allowed to use "spline" head fasteners. I don't know if this is their real name but it sounds good to me) of the fastener used. Lee