It would be nice if there was a tool that you could tap in the plastic shield or anchor
Right through the wood hole into the hole in the cement, without moving everything.
That way you wouldn't have to worry about lining up the hole in the wood
With the hole in the cement.

Is there such a tool, kind of like a screwdriver like tool but maybe more round?

I think I know what your asking and I think the answer is "common sense".

You take one hole, mark, drill and fasten. One thing that can help with the marking is a "transfer punch". I have a set that has every diameter up to about 1/2". So if you had 1/4 holes in somethig, you could use it to get a perfectly centered hole.

You tap to mark and then use a "center punch" which is harder to make the mark such that the drill doesn't wander.

Next, you fasten, one screw/bolt, whatever.

Now, you can mark all the other holes. You can drill with a pilot bit. One the same size as the hole through the material.

Remove the original screw/bolt.

Drill all the others and set the anchors.

Inset all screws/bolts, first before tightening.

Tighten.

Any help?

These anchors are sold in conjunction with installing door thresholds. The anchors come as a unit, screw and anchor combined. They are inserted through the threshold without removing the threshold.