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The units for torque, as you stated, are Newton-meters. Although this is algebraically the same units as Joules, Joules are generally not appropriate units for torque.
Notice that the torque units contain a distance and a force. To calculate the torque, you just multiply the force by the distance from the center. In the case of the lug nuts, if the wrench is a foot long, and you put 200 pounds of force on it, you are generating 200 pound-feet of torque.