Here's my method. It's basically what you describe in your first post.
With axis tilts, I find it easier to focus on a point/object in the scene that both a) lies in your desired plane of sharp focus (that assumes you've determined where that plane should lie and picked a few points to focus on along it) and b) is on the axis of the tilt, i.e., on that horizontal center line on your ground glass that the tilt revolves around.
Then, I tilt till the other points/objects on my desired plane of sharp focus come into sharp focus. The point on the tilt axis should not change focus, theoretically, but on some cameras it does, so you may have to revisit your original point of sharp focus, refocus that and check the other points again, tweaking tilt a bit if needed. When everything is in acceptable focus, then you're done.
The important thing with this method is to visualize the exact position of the plane of sharp focus in the scene and then choose points on it to focus on. Example - A landscape with a near short boulder, and expanse of desert sand with a few rocks and trees/cacti sticking up, and then a dune rising in the distance. I'd pick a point on the center of the near boulder and on the center of the slope of the dune to define my plane of sharp focus, then find a point on a tree or rock or whatever in the middle of the scene that lies in that same plane and that lies on the tilt axis on the ground glass. I'd focus on that middle point, then tilt till my near and far points are all in focus too. If all goes well, the actual focusing and tilting takes just a few seconds and fine tuning with the loupe a few seconds more; much less time than it takes to describe
FWIW, I use +3.50 diopter reading glasses for viewing and rough focusing, but fine tune focus with a 6x loupe.
Swings are dealt with in essentially the same manner, just transposed 90°. Asymmetrical tilts and swings work the same way, only the tilt/swing axes are offset from center; one finds an initial point to focus on that falls on the appropriate axis.
Base tilts are a different can of worms; fodder for a different thread.
Best,
Doremus