It looks like the bend is where the extension is welded to the back of the tube; first I would check with a metal straight edge to make sure that the hydraulic cylinder tube didn't have any swail. If it was straight, I would retract it, then put a wooden block between the gland end and loader frame (wedge one in if necessary to get the same distance as the good side) and secure it with a chain or whatever to keep it from moving. Then use one of those spreaders in a porta power under the welded end to spring it back into line. It might require some wood shims to get full travel, as it will have to go a bit beyond level due to springback, but take small steps and compare to the other side measurements. 5mm isn't much, so be careful not to over do it.