No pilot hole per instructions. I don't remember where it was specified but it worked perfectly just using the 7/8 bit. Nothing special about the Bosch, it just worked really well. I did drill a test hole in a different location, just to get the feel of the drill and then filled it in with some excess epoxy. If I remember correctly, I started each hole using the base of the lift as the template. I drilled all 5 holes without moving the post. I can't remember if I just drilled the first inch that way or drilled the whole depth. Either way, I remember it was super easy and I let the weight of the drill do the work. I went really easy near the bottom to try not to blow out the back. Took maybe 45-60 seconds per hole. Maybe less. If my friend hadn't told me how easy it would be with the right drill and bit, I would have thought my concrete was defective. It really was that easy. I did make sure the temperature was appropriate per instructions. I let the epoxy set for a couple days before I touched it. The painters tape around the holes made cleanup super easy.
After talking to an engineer at Simpson strong-tie, I chose this epoxy. Not only high strength but actually reinforces the concrete. I felt better about using it rather than the no name Chinese epoxy tube that comes with the kit. I used the entire twin tube and I've often read that the single tube of epoxy that comes with the kit isn't nearly enough to do the job. Not everyone will agree with me going off the reservation but I'm the only one under the lift.
I only put some lightweight Porsche's on my lift. Early 911's and 914-6's. Max weight of the cars is ~ 2250lbs. So with the lift arms, each post has about 1200lbs leaning on it. That's about 240lbs per anchor. Really not much. But that's what I bought it for and with a ceiling height of 102", this is the perfect lift for my garage.