If it were me, I'd hatch the chick so that the chick was half in and half out of the egg. Chick will be lethargic for 12-24hrs from being hatched. I've never lost a chick to helping it out of the egg. Make sure the chick isn't stuck to the membranes as you help it out.
Once the chick is sitting on it's feet(did it on it's own) AND holding it's head up, place it with the other chicks. Chicks recover better with other chicks in my experience. But if you put it in with the other chicks while it is still lethargic, it will get pecked and walked on.
I don't know he's definitely malpositioned and is trying to break the shell every once in a while but is struggling. I'm worried about helping him more because it just seems to make things worse