The seed is most likely fine, yes you can re-inoculate. What farm hunter said.

Innoculant is not required to plant legumes like clovers, alfalfa, trefoils, soybeans. The innoculant bacteria only enables the plant to afix/store Nitrogen from the air in the root nodules. The bacteria may or may not be in the soil already. If there is no bacteria in the soil,and the seed is not coated with the innoculant bacteria, the plant will not be able to afix Nitrogen. However, the legume will grow fine and be totally healthy with proper fertilizer and mineral ammountsin the soil.

Farmers use innoculated alfalfa and soybeans to ensure Nitrogen is afixed into the ground. This provides some Nitrogen to the next crop and reduces fertilizer requirements. For Foodplotters, innoculants are a cheap way to make the legumes just a bit healther.