You can use torque sticks or estimate the torque by a graph that's usually available in a manual. It shows time vs. applied torque. So you can just tap it for a second or so. It's far from accurate however.
Ideally though you'd use an impact wrench for removal and a torque wrench for tightening. With a torque wrench you can set it to the desired ft/lbs and just rotate until it clicks.
That said, most people just zap it with the impact wrench and call it a day.
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