I also have no interest in putting heim joints on a street car. They're noisy enough as it is.
I couldn't really get a good picture to show the depth of the grooves, but I did my best to measure them. One is less than a tenth of a millimeter deep, and the other is just under 0.2mm deep at its deepest, and less for most of it. The tube is 25mm, and the bolt that goes inside it is 22mm at the max thread diameter, so 1.5mm of metal on each side.
I'm going to guess there's more than a 10-15% factor of safety on the tubes, so it should be ok. I might still try to just put some tacks in and smooth it back out. If sheet metal can be welded without warping, I'd think the tube could be.
Buying a new one is also an option if I see a cheap one.
Thanks everyone.