I am a bit lat to the game here but for a quick and temporary repair, get a jack under the bend in the panhard bar and jack it upwards to straighten it. Whatever other tools as needed to get it close to straight.
This can get most all of the bend out of it and allow you co drive and check other parts.
Do not consider the straightened bar as a long term repair.

Cheers, Charlie
If It ain't broke, Modify it!
87 Montero turbo Converted back in Spring1989
95 Montero SR 3.8 DOHC Only one?
93 Pajero 3 door 6G75 Mivec with paddle shifted 5 speed
Then a Gen2 SR with full coil independent suspension.