This small amount of bolt head under turn is very common when fitting bolts. Its been noted in previous posts that armourers had a "bolt head spanner" usually made up during their apprenticeship that was used to work the bolt head until it just aligned with the bolt rib (best) or over turn by a degree or two (good).
As noted above if you have access to a lathe you could skim cut the rear face of the bolt head but your's is pretty close already so you might try the method below.
For lack of a "real" bolt head tool I clamp the stripped bolt body between boards in the vice and then use a small & padded open-end wrench (sized to fit the bolt head) to work the stripped bolt head back and forth until it aligns. Note that this takes a reasonable amount of effort when tightening & loosening so don't be hesitant to lean on the wrench a bit (but not with lug nut force!). After a good number of tight/loose cycles the bolt head will align.