I'll try my best to answer from what I know, others will probably chime in and provide other info.
Typically efficiency is referrenced for mash, most recipe software assumes a certain efficiency and a pre-determined amount of beer at different steps, you tell the software both how much these volumes (pre-boil, post-boil, fermentor, and keg). I do know that I have heard from several people that Beersmith deals with BrewHouse efficiency, so it probably depends on the software that you are using.
"Does mash efficiency change brewhouse efficiency? Say my mash efficiency jumps 5-10 points this next brew that assumes 70%...will that then throw off my recipe plan since I'd have a higher Pre-boil gravity?"
Yes it does, however, you can correct for those issues, if you get a higher efficiency out of your mash, then you can add water to give you a proper pre-boil, if you come up short, you can boil down further before you hop additions, do get the right number, then just produce less finished product.
"Am I aiming to adjust my gravity to match recipe efficiency assumption? "
That depends, most of the time I would say yes as the recipe is defining what you are trying to produce, if your gravities are higher or lower then you will not produce that profile, however, there is nothing to say you have to, it is just beer, do what makes you feel good!
"How many brews does it take to establish a solid brewhouse efficiency for recipe development? I know there's no magic number but I want to see what people's experiences are."
As long as there are NO CHANGES to your system, typically I find that I am fairly honed in on my system after about 3 batches after a major change to system (new pots, mash tun, ect...)
Mash efficiency is simply how much sugars you are pulling from the grains from the maximum extraction potential.
Brew Houses efficiency is is total extraction possible per volumes compared to actual extraction per volume.
As you can see the only really difference in the two is how much wort is produced and consideration for losses through the system, so this includes wort left in mash tun, wort left in kettle, and trub left in fermentors.
At least that Is my take on stuff, there are some people on here much smarter then I, whom can give you much better discriptions of everything. hopefully they will chim in.