We have a 120 argon/nitrogen mix welder at work, MIG. Almost all use is "under" the car, although we can stand to do so. Unless I'm making a tiny sleeve adapter for a flex pipe or something like that, it's all done in place.
Slip the pipes over one another, or into one another. Getting a pretty gap/flush weld can be tough, doable, but not time efficient.
If there's a larger gap, use wire feed to fill it, turn down the voltage a tad, unless it's a hackjob on a junk car, in which case you can blow through some of the over lapping pipe to create more fill that the welder can produce via wire feed.
I use tiny circles to keep it flowing and smooth, but that's more a shaky hand problem than a technique. Get it hot and move quickly. Tack the sides, then use the muscle memory of the curve to do the top blind if necessary. Mirrors are a PITA. Turn down the heat on the bottom if you have a big gap (common as people learn to use the expander, or are being lazy), or else your weld will just start falling off in cherrys on the floor.