The manual shows the relationship of the control arms to the frame for proper positioning to set the final torque, to do it with the wheels off. Easier to reach the bolts. I recall it actually gives angle values using different reference points and lines. I didn't measure exactly when I did mine, eyeball was close enough.

 

Well, after taking another look, I took the RX to a mechaic and did not regret at all:
the outer bolt and smaller bolts holding the brake hose and wheel sensor wire came out easy.
However, the inner bolt/nut did not. First, there is very little room for the ratchet. I suggested to the mechanic to use a long extension with a wobble joint at the end- he replied that using an extension would reduce the torque. He was able to losen up the nut using a long angled ratchet with an extender. After he removed the nut, the bolt would not come out. The head of the bolt hit the floor of the vehicle and did not have room to move out, requiring lowering the subframe...