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hand tight, clock the bar to allow feet and leg access, tighten again using your weight with one foot on the bar, recheck at 5 miles, and again at 10 miles. Lug nut checks are part of the PMCS, so you should never find yourself on the side of the road missing a tire and wheel unless you have a catastrophic hub failure.
True, you should notice anything loose. The specified torque on this is almost 500 ft-lbs, hard to even find a torque wrench that will get it that tight.
When I took my A3 to the tire dealer for some new O rings and valve stem grommets, they torqued the lug nuts to a full 500 ft lbs. I use a three foot cheater pipe on a 20" breaker bar and go about as tight as I can.