I usually spin the nuts on with a star wrench and then torque them with a torque wrench in a star pattern.
While I don’t support using an impact wrench, an air wrench is fine. The key is in the operator. A hamfisted gorilla will find a way to do damage. A conscientious operator will be sure not to.
Rod Knox is correct. Rust or debris between the rotor and hub can cause the problem. My Toyota Camry warped the rotors and according to the Service Bulletin the pads were the problem. They issued a new ceramic pad compound to fix the issue. I replaced my rotors with high quality rotors and installed Akebono ceramic pads.