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I re-torque my wheels every time after I swap a new set on, but I'd have to drive the car for anywhere between 50 - 100km before the re-torquing is useful. If I try to re-torque too early, everything is still tight.
With the FWD Mazda, lug nuts on the rear wheels are rarely loose, but I'll do them anyway. The fronts would generally have a few lug nuts that needs a bit of re-torquing.
With the RWD car, usually 1 or 2 lugs on each wheel would need a little bit of re-torquing.
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