Having a few issues with an engine I bought that was
in storage for a few (5) years. the cam bolt came loose and wiped out the key etc. Thoughts on pulling
the pan and re-torqueign the rods and mains?

cam bolt came loose from never being properly installed

Just do it. No issues unless you start taking things apart and swapping them.
R.

The one issue would be thread lube. Moly lube will allow the correct stretch with less torque. Oil will take more torque.

If the engine was built with moly/arp lube on the threads and you torque them to oil specs thinking they are loose you will overstretch them.

I think its pretty obvious to tell what was used even if you have to take a bolt/nut off.

Also keep in mind that a fastener will take more torque to break free, so the proper way to retorue is to back off a hair and run it back up letting the wrench get to the torque spec during one constant movement.