If they are torqued properly then you dont ever have to check them unless you remove a wheel, or see one loose. I personally like to check mine visually occassionally, and check the torque before long road trips.

I had to swap the stud on my old GMC yukon after a tire shop stripped it bare

Hammer out the old one, then use a tool that is kind of like a nut with a large spacer behind it and as you tighten it, the new lug will be basically press fit back into the hole. Takes a lot of torque so you'll probably need a cheater bar to get it all the way in, but the install should cost no more than 20 bucks if you get a wheel stud installer with bearings like this thing or basically free if you use a nut with a lot of washers

Edit: I'm dumb, this topic is 14 pages lmao