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I'm a believer in checking torque and tightening to specs after a lugnut has been loosened for whatever reason. I do this every 50 to 100 miles or therabouts until the nuts no longer tighten at the specified torque. I do not generally check them before every trip because they just don't seem to loosen for no reason once they're tightened and checked properly as noted above. I will occasionally take the torque wrench to them just to make sure but have never found a loose one other than as noted above.
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