You need:
Barrel wrench aka armor's tool (DPMS TL-02 is fine).
Torque wrench with 1/2" drive (regular automotive type)
I suggest you NOT use barrel vise jaws (like DPMS #TL-05), as these will allow you to easily twist the barrel in the upper rx, and have a misaligned front sight.
Instead, I suggest you use an "action block", such as DPMS PR-02. It is well worth the extra cost, even for doing only one barrel.
Lubricate the threads with moly grease, yes, regular wheel bearing grease. With the torque wrench engaged in the barrel wrench, torque to 25 ft-#, then back it off. Tighten a second time to 30 ft-#, then back it off.
(The reason for this is to smooth the threads so that you get an accurate torque reading.)
Now, (you are going for the gold this time) torque it to 35 ft-# (your minimum). Using a gas tube, or a piece of drill rod the same diameter as the gas tube, check that you can pass the rod or tube through the uppermost notch and into the hole in the receiver. Probably it will not go.
Torque a little more, and try to get it so that it that the drill rod will pas through, and swing and equal distant both ways. Do NOT back it off to get proper alignment. You can torque up to as much as 50 ft-#'s. It is MY recommendation to torque from 35-55 ft-#'s (the manual is a little lower and higher), and you should be able to obtain tube alignment within this range.
You can go as high as 65, but as you go higher than this, you run the risk of stripping threads, ruining the upper receiver. The first notch that properly aligns the gas tube after you reach 35 ft-#'s is what you are trying to achieve. Torquing higher does not make for a better barrel installation or a safer rifle.
But yes, get a manual.
Your second question... The torque of the barrel nut has nothing to do with headspace. That is determined by the fit of the bolt inside the barrel extension. I have never had a new bolt not headspace correctly in a new barrel, but it could happen.
(Let's see if I can get away with posting this without Brouhaha or Tatjana chewing on me... hah!)