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The elongated bolt passes though the reverse gear idler shaft, to hold it from turning, or moving fore and aft, as you shift in and out of reverse. The reverse gear does not turn, unless the tranny is in reverse, and then the shaft would turn along with the gear only as much as the friction/stickyness of the oil between the gear and the pin drags it along. The shaft may also have moved fore or aft, if the gearshift has been moved in or out of the reverse position, since the bolt has been withdrawn. I don't know how far the shaft can move fore and aft, with the tranny assembled, but, if it were to move rearward enough so you can get the bolt back in, missing the reverse idler shaft altogether, the results could be disasterous, if the pin and/or the gear were to fall into the transmission, or the final drive area. So, what to do? You could try slowly turning the PTO shaft, with the PTO engaged, the tranny in reverse, and the clutch pedal depressed, and using a sharp pick or awl long enough to reach the bottom of the bolt hole, to the shaft. If you are lucky, you will "feel" the hole in the shaft come into alignment, and the sharp probe drop into the hole in the shaft. Perhaps, with a bright light, you could then see the edges od the pin hole in the reverse idler shaft, and visually verify that it is in position. If you can't get the hole into alignment, at all, or can't be SURE the hole is in alignment, and the shaft has NOT moved out of position, and teardown of some sort will be needed. I don't know how much you can see down there, with the tranny cover removed, and the shift rails and forks still in place.
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