A plug-in constant velocity (CV) joint is assembled to a powertrain component using a power tool. The CV joint and powertrain component connect via a splined shaft coupling with a snap ring interlock. External bi-directional thrust features on the joint and component engage first and second arms of the power tool after the splined shaft coupling is partially inserted by hand. The arms are relatively movable along a longitudinal direction, and an actuator selectively applies a compression force to the bi-directional thrust features adapted to fully insert the splined shaft coupling and engage the snap ring interlock. The power tool monitors the compression force to detect the full insertion. The actuator automatically applies a predetermined expansion force to the bi-directional thrust features to verify engagement of the snap ring interlock, wherein the predetermined expansion force is less than a force sufficient to disengage the snap ring interlock.