I wouldn't overthink this.
I put a dab of anti-seize on the tap threads. Then screwed the tap into the holes on the frame and unscrewed it. I took a paper towel, quickly wiped off any metal shavings, wiped a dab of anti-seize on the tap and did the next hole. I spent maybe 5 to 10 minutes on the whole process.
The purpose of this venture is just to clean the threaded holes in the frame and to lube them. This is to make the skid plate bolts easier to remove for future oil changes and vehicle modifications.
No need to keep screwing the tap deeper into the frame than needed. Stop twisting when the threads at the bottom of the tap are all the way up in the frame holes.
Regarding "The bolts torqued to 22 ft/lbs... whatever that means."
You're going to want to pick up a torque wrench. I bought a cheap one from Harbor Freight to use on the skid plate and Warn winch bumper.
Torque specifications are put out by the manufacturer to keep bolts from unscrewing on their own. Plus to prevent over tightening of bolts resulting in failure of the bolt or damage to the frame.
You don't want to be driving down the road and have your skid plate fall off. The same thing applies to the lug nuts on your wheels. Over tightening them will make them impossible to get off when you need to change a tire. Under tightening them can result in your wheel falling off as you drive down the road.
Basic Torque Wrench How to video:
YouTube