Helicoil will be significantly bigger pain in the azz,compared to tapping 10mm 1.25 if there is still enough meat. You can probably start a 10mmx1.25 tap without drilling,getting a drill back there is going to be tough. To insert a helicoil,drill size is 25/64s so you will have to remove the manifold and drill the hole 25/64ths then tap it insert the helicoil,reinstall the manifold,bolt everything down. If,you can get a drill back there you can drill the manifold 7/16,drill the head 25/64ths that gives the tap room to get past the manifold,tap the hole,install the insert. OR. 10mm 1.25, .tap the hole,clean the bottom with a bottom tap,put in the longest bolt possible. Done. 1 possible problem will be dependant on how sloppy the holes in the manifold are,you may end up cutting threads in the manifold also. NBD. Screw a nut onto your 10 mm bolt,screw the bolt just into the manifold 3or 4 threads tighten the nut it will pull the threads out,repeat as necessary. Use the longest bolt you can keep using longer and longer until you just have a gap between the head of the bolt and the manifold now use appropriate washers under the head of that bolt. Writing this I just realized depending on the length of the stripped bolt you may get away with just using a longer bolt.