Make 'em "kinda snug", then run the system, and only torque it higher if it seeps at high temperature or low. Cranking the hell out of it over compressing the gasket gives the gasket less mechanical compliance for accommodating dimension changes with temperature. Taco might have a torque specification buried somewhere in the documentation, but I can't say I've ever looked for it.
The gaskets should last as long as the pump. Swapping them out every 20 years might be prudent (both the pump and the gaskets) to mitigate risk of a mid-heating season failure, but a 5 year schedule would be silly (unless you just love doing it as a hobby.
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