wow, you're lucky! i had a friend that experienced this on the 101fwy in Los Angeles in the wee hours of the morning.
while driving, the RIGHT REAR lugs all sheared off and both wheels came off the motorhome(Southwind F53/V10). he was able to safely pull off the freeway with no wheels. unfortunately, his wheels were still on the freeway and several cars had struck them and caused much damage to other vehicles.
memorize your torque specs!!!!
the correct torque for the F53 chassis are 140ft/lbs (or 190NM)
there was an update in '03 which raised the torque spec to 150ft/lbs (or 200NM)
https://www.fleet.ford.com/truckbbas...atsnew2003.pdf (PAGE 12)