I use engine oil and my regular oil can, lube all studs/bolts regardless if it's on sled/boat trailers or on any of the cars. Usually clean the threads before putting the wheel on using a wire brush too. Being able to get a punctured tire off late at night in the pouring rain without the hassle of seizing threads and/or nuts corroded to the stud is worth a lot.
Don't make a hen of a feather, fastening wheels is not rocket science, just tighten the bolts. Especially with steel wheels the "you're ok-window" is quite large.
Torque wrenches are good, more to get the nuts equally torqued than getting it exactly in the decimal to correct torque. You will not have wheels falling off for getting a few Nm off spec!! (or crocodile feet per square imaginary area or whatever unit you prefer

)
Fit the wheel, throw a suitable tool on the passenger floor so you see and remember to check tightness after 20-60km, then return tool to it's correct place and don't worry!
And....: DON'T USE A HIGH POWER IMPACT GUN TO FIT YOUR WHEELS IF YOU DON'T KNOW WHAT YOU ARE DOING. (Probably the best reason for people to use a torque wrench is not to over tighten!)