This isn’t caused by the lugs not being tightened properly in the first place, this is because the hub that the wheel rides on isnt clean so it doesn’t sit perfectly flush like it needs to. Letting the wheel rock back and forth ever so slightly causing the lugs to loosen as the wheel moves on the hub. Clean your hubs and the inside of the rim and you shouldn’t have this issue anymore.
As for the Tq. wrench debate, the main issue with using an impact is idiots that have no idea what they are doing tightening lugs down to ten times what the spec is, not so much the trained professional that uses an impact to snug the lugs and a tq wrench to tighten to spec.