As is so often the case there is the theoretically correct way to do something and then there is the more practical way used by most people or shops. More to the point, the torques are quite low and just the grease can throw off the readings you would see on a gauge. It is true that some experience in how it should feel is important. Sometimes an educated/experienced touch is the best gauge. If the work is done as described you will have a smooth, slop free and long lasting steering gear. As for lube,if the steering gear is going to be close to headers I have found high temp wheel bearing grease to work well.