Ouch! Are you saying that your rearset was being held by a single bolt, and a stub from another broken bolt? Good for you for noticing. Need to tighten probably to no more than 15-20 lb ft.
Here is what's a bit puzzling to me. Your rearsets are probably made out of 6061-T6 aluminum (hardness of around 95 Brinell) while the bolt should be made from 12.9 steel or similar (hardness of around 380 Brinell), with the latter being obviously a lot harder/stronger than the aluminum. I would imagine you would sooner strip the thread in aluminum than break the bolt's head... that is unless the bolts are made from a softer grade steel, like 10.9, 9.8, 8.8, or even 6.8 or 5.8. The hardness is usually marked on the head of the bolt. So, get the magnifying glass and a flashlight, and look carefully at the top of each bolt's head, and see what's stamped there (no need to unscrew the bolts). You may have some other letters as well which depict the manufacturer. If you discover anything lower than 12.9, and especially anything as low as 8.8 or below, then it would definitely be a good idea to replace all those bolts.
Now that I wrote this, I am thinking to myself that I also have Vortex rearsets. A year ago, I did replace the bolts with the longer ones made of 12.9 grade steel when I installed foot anchors. A quick run to the garage, looking at the original bolts under the magnifying glass, and sure enough they are made of 8.8 grade steel. And this is certainly a contributing factor to your problem!
I would speculate that you cracked the head when you over-tightened the bolt, while your weight on the peg over many rides finished the job. I would complain to Vortex. A bolt should not fail like that - it should strip the thread and in such scenario you would've noticed it right away while you were tightening the bolt. Sure a headache to fix the thread, but then you wouldn't be putting your life at risk riding with the rearset held by a single bolt.
Philosophical observation: why do I always have to get to the bottom of things? It's a curse... LOL