I am just finishing my build of a Moxon-style workbench that sits on top of an MFT/3 (using Benchcraft hardware) and I used my OF1010 with a 20mm Festool bit to bore holes, as well as the 20mm Zobo with an electric drill (held in a spindly-ish Wolfcraft drillstand).
I currently own Parf dogs and Precison dogs. I tested these on my homemade holes and compared the experience to the MFT/3 tabletop and a new replacement top that is waiting for the old one to go to Festool heaven.
Both the Parf and the Precision dogs have an ever so slight wiggle in all three. So, in my opinion all methods mentioned here are acceptable, even though going the CNC way should result in smaller tolerances and a tighter fit.
BTW I have some Qwas custom dogs on order, that will hopefully arrive within the next two weeks. These are meant to be used as ‘Connect Dog’, to securely connect the settop to the MFT/3. I will add my experience with those!