It is OK to drive like that for a while but it will bump steer, you may want to pull the whole thing out or tie it up to keep it out of the way.
It is one of the things that you can remove if you go to crossover steering, and is only there to give good driving habits (for a hilux) on road and prevent the hilux steering linkage from disconecting (restricts front diff articulation (droop) on steering side) when offroad.
You can drive it I would but unless you do a crossover steering mod
it needs to be fixed, Imagine loosing steering off road because the steering linkage "fell" off the ball joint.

Drive slowly and be prepared for the diff to wander around under brakes (pivots on the power steering).
reattaching it is a bit of a trick tho, not sure I would attempt it myself I think I would take it to someone who can weld better than me or put that towards a crossover setup and call Jaffa? SNR? for the bits.