The trick with the tool is a decent amount of down pressure while you turn it in, which is also kind of a PIA when doing them in the car.
Tapping the removal tool with a hammer while turning it works ok, but here again in the car it's hard to get that much room above the tool.
That's why I just pop it out with a screwdriver and pull the new one in from the bottom with the VB out.
Trying to get around taking the VB out is more trouble than it's worth to me.
I have probably done 50 of them, and have a background in transmissions, so it's no big deal to me.
A drain for the pan and a reusable metal impregnated pan gasket makes the job a little less of a PIA also.