I tighten lugnut #1 (the one highest around ground level) until there's resistance, then #3, then #5, then #2, then #4. Then I apply about the torque to each lugnut in the same order. I don't use a torque wrench, but I've never warped a rotor either.
It's one of those things that easier to show in real life than to explain in words.
Many (but not all) tires with directional thread say so on the tire, often an arrow with the word "rotate" in it.
On front-wheel drive vehicles, make sure to swap back on front, so as to even the wear on the tires. If you swap front left for back left and front right for back right, you only have to jack the car up twice, so it's easier if you keep the tires on the same lateral side anyway.
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