Yeah it's fine if you're experienced and can get it close by feel. Maybe stop into a tire place with coffee or doughnuts, and ask if they could check your lug nuts for you.

Posted by: @jediknightkhan

do tires need rebalancing after a rotation?

no, the balance of a wheel is independent of where it sits on your car

I would torque them and invest in a tool (not even that expensive).  You can purchase a torque tool (Tekton brand) on Scotty’s Amazon page, that’s the one I use.

https://www.amazon.com/dp/B00C5ZL0RU?ref=exp_scottykilmer_dp_vv_mw&th=1&psc=1

I’ve had a wheel come off while driving.  So I err on the caution that the lug nuts are torqued to spec.

When you get your next set of tires, I recommend getting them at Costco.  They will rotate your tires, torque your tires to spec, and also rebalance tires if necessary, all for “free”.  Free as in, rotations and rebalance come with the tire when you buy it from them.

I always use a torque wrench because I don't want to inadvertently warp a rotor.  I like to know it's right and not guess at it.

@justin-shepherd and @rod-iron are both right. Using a torque wrench is correct and not that expensive, but then again people have been tightening lug nuts without a torque wrench for a hundred years so you don’t need one as long as you are careful.  
If you don’t torque your lug nuts to spec with a torque wrench (and also if you do) then absolutely you must follow these rules:

1. Start the nut very carefully by hand, making sure it is not cross threaded 
2. Under no circumstances use anti-seize to lubricate the studs
3. recheck tightness after a few miles

And @mmj is right, you don’t need to balance every time. 
good luck!

I've never used a torque wrench to put lug nuts back on the wheel, I use the tire iron my Ranger came with on my truck and my Pontiac, because the nut sizes match. Torquing them to somewhere between 75 and 90 ft-lbs is fairly easy for me to gauge. I weigh around 130 pounds, and putting my weight between half and 2/3 of the way out on the on the 12" tire iron arm puts around that much torque on the lug nut. I have torque wrenches, but was taught to guage by feel, not with the torque wrench. My weight method is a bit rudimentary, but I've never had an issue.

Basically, you don't want them too tight to where you strip off the threads or stretch/ break the stud, nor do you want them loose enough that the wheel can wobble, or the nuts to back off.

I'm no expert but for most of my life I just tightened them by feel. It was only in recent years did I learn you're supposed to torque them down. If you have an Autozone or Orielly's you can rent one instead of buying it.