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  1. You can just hold the cage when unscrewing the bolt, just be careful not to damage the carbon. As for the mangled torx head, it’s non-replaceable, so you need a new derailleur cage, or at least the outer plate. 

    Are you sure though, that you know what you are doing? the derailleur looks like it’s still under tension.

  2. Is that dirt in the bottom of the torx fitting? Like, packed-in mud? Clean it out, thoroughly, and try again. Make sure the torx wrench is fully engaged before rotating.

  3. Find a slightly larger spline bit (spline is very similar to torx ) hammer it in gently and unscrew. If that fails your only real option is to drill into it and use a screw extractor but unless you are confident I would advise you leave that to a bike shop.

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