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I've always done it by feel, but the proper torque for these bolts is just 3 ft-lbs. Do it in a couple of passes and check for leaks when you are done. I like to use gaskacinch to adhere the gasket to the valve covers.
I went in and started to take the valve cover off and I quickly found out the bolts holding down the cover were extremely loose. So loose, I was able to unscrew by hand. So I snugged up both sides, hopefully that is all I have to do but I will hold onto the gaskets for a while just to be sure.