To compress the insert without the tool, you need a nut matching the thread pitch of the screw in the picture and a thick spacer. Once you have the holes drilled, thread the nut onto the screw or another bolt with the same thread pitch (what I used to do), then the spacer (a nut one size up from the screw thread pitch should work well) and thread the assembly into the insert until you see at least 2 or 3 threads on the bottom. Now slide the spacer down until it contacts the top of the insert, and then run the nut down by hand until it contacts the spacer.
This is the tricky part, you have to hold the insert firmly against the door surface while using a wrench to tighten the nut against the spacer. You'll feel the insert "give" as it begins to collapse, continue tightening the nut until you feel resistance as the insert begins to grip the back side of the panel. You want to be sure the insert is fully seated, but don't overtighten.
It would probably be best to place a piece of 1.5" masking tape over the hole before placing the insert in the hole. This will protect the paint around the insert while you set it. Once the insert is set, peel the tape off and don't worry about any that is caught under the lip of the insert - won't hurt a thing to have a paper tape "washer".
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