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I pack a torque wrench with me and check the lug nuts just prior to leaving a camp site. I do not do it every time but once every other week or so depending on the miles traveled. Usually every 500 or so miles. After a few checks they seem to seat in and I have not had any loose ones for some time. I think it is only a concern immediately after removing the tire and running down the road a bit. It is a good thing to keep up on but do not expect to find loose ones every time you check them.
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