I wouldn't even drive it in. I'd put it on a flatbed and insist that they replace all 32 lugs.
There were a couple of horror stories when the H2 first came out about wheels spontaneously coming off and causing crashes. In reading your post, I am wondering if something like this might have been the nidus. Even if you need to pay out of pocket or pay the dealer (so that they take all liability) I would replace all the lugs.
Ditto Vegas, when I got a flat repaired, discount rotated all my wheels. Best puncture repair I have ever seen, inexpensive, efficient, tightened everything with a hand torque wrench, nice guys to deal with. The only drawback, they're usually very busy so there's a long wait.
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