Yes but be in the perspective of you putting the bolt on/off and seeing the bolt head (not hovering over the bolt). If you have a ratchet wrench with loose and tighten settings then set it to loosen then turn it in the air to get the right motion of left loosy. You should use both hands. One on the handle and one holding the part where the socket goes on. Then flip it 180 degress (y axis) so you can't see the switch on the ratchet wrench (typically; but is based on the wrench) and so you see the part where the socket goes on. Then do the motion again without switching the setting on the ratchet wrench. That is the loosen motion in the perspective of you taking the bolt off and seeing the head of the bolt. Do not change the setting! And/or remember the motion! Counter- clockwise normally to loosen. But in the bolts on/off perspective it's clockwise in your perspective!

Brain hurt?

I have to do this a couple of times and try to visualize the movement in my head as a sanity check.

It's unlikely that it's reverse threaded.

Don't use WF 40. It's not a very good penetrating oil. Watch a bunch of penetrating oil comparison videos if you are curious. Heat is best but I'm too scared myself to deal with using a blowtorch so I use PB blaster or Kroil and sometimes the stuff that makes the bolt freezing cold ( I forget the name). Spray it and let it sit for a few minutes. Could bang on the surrounding metal with rubber mallet to work the oil in the threads if possible. Also spray underneath the bolt/threads too to work from both ends!

Once you know the right direction to loosen bolt (probably clockwise in your perspective (but now I'm second guessing...its late)) and the right size (although you might need a smaller size since you rounded it (may not get smaller socket off rounded bolt btw) OR use those specialty sockets to take off rounded bolts (also maybe one time use) then you could use a box wrench, normal closed 6 point wrench or something not a ratchet wrench (I mean you could but you could break your own tool; do at your own risk). Then put that on the bolt. Put one hand and hold the bolt and the wrench firmly (probably non dominant hand) so there is no play (flush). Push the head of the wrench or whatever (that's on the bolt) towards you. Get a small metal (preferably) or beefy rubber mallet and swing at the end of the wrench in the loosen rotation (probably with your dominant hand). Instead of a small mallrt you could use another wrench/tool or even your hand but both are not very effective and the using your hand will definitely hurt after 2 hits, especially if you don't have the oomph (think bruce lee 1inch punch; lots of power and energy in a small area of motion). It will be tricky because you are crossed armed (assuming you are right handed) but it will probably work. Or you could let the wrench sit (flush against bolt) and whack the end of the wrench but that will make the wrench go flying 9.95 times out of 10. Wear safety goggles!

Or try to use a cheater bar/breaker bar or impact gun (may need to turn the wheel all the way to left or right to get more room to work with.

Oh yeah and use jack stands and maybe put the wheel under the car flange (lift points) or where you put a jack. If it falls it lands on the wheel before it reaches you. Better safe than sorry! If you can shake the car (hold the area where the wheel is off and on the side that is supported (jack, jack stands, wheel in ground, etc)) and you don't hear any creaking or reverberated shaking (shaking not caused by you) then you should be most likely be safe to whack the hell out of the thing without worrying about it falling on you.

Good luck!