Were you driving in the mountains, or really hurrying? It would have been good to feel the other lug nuts to see if they were just as hot. One wheel hotter than the others indicates a real problem but it isn’t necessarily in that wheel. It could be a frozen caliper on the other wheel that isn’t letting the brake apply. In that case this wheel would be doing most of the stopping.
Jack up the front wheels with the car in neutral and the parking brake on and see if they both spin free.