You should be able to do bridging and not need support. It doesn't matter how messy the inside end face of the socket is. If it were me, I'd print it as a plain round "socket" with two slots up the side, so you can use a hose clamp or something to squeeze it onto the 15mm rod. If you're good with cad, print it with bolt holes so you can use bolts to clamp it :-)
Above that (relative to the print bed) I'd print a hex shape like a bolt head, that fits some socket you've got for your drill. You could print a small hex "shank" as long as the torque is low; printed plastic is not strong in that direction. If you do, definitely fillet the joint.
And if it breaks, you can always print another one :-)