How was Io not torn apart by tidal forces during its formation?
No, it is not just a matter of migration. You need to take into account two facts.

One is that (as experience shows) Io's own gravity is enough to avoid it breaking by tidal forces. It has been like that through all its history: Io could not have been formed if it started aggregating today, but it was formed at the same time Europa and Ganymede did: they three were growing in parallel.

Other is that of the orbital resonances, which makes precisely that orbit with so simple integer number relations with those of Europa and Ganymede a stable one. Io could not have been formed in another place.