Here's how I do it with "ornery" folded tires:

Mount one bead first, all the way around the rim. This is only slightly difficult with a tire that's been folded a long time. Make the job look professional by centering the tire manufacturer logo over the valve hole, both front and rear tire logos facing the drive side of the bicycle. This not only looks good but can assist you with locating punctures in any tube you use down the road.

Inflate the tube just until it takes a shape. This is like maybe one, perhaps two downstrokes on a standard floor pump.

Insert the valve in the valve hole and down into the rim. Slowly insert the tube all around into the tire, or if there are too many kinks, then just around the rim. Once it's inserted, there should be no "kinks" in the tube.

Now, starting at the valve hole, fold the second bead over the tube and down into the rim. You may have to push the valve up into the tire to allow the second bead to come down and seat properly, and when that happens, pull the valve back down through the hole. Make sure the valve is straight. At the valve hole at this point, both beads are seated.

keep inserting the second bead around the rim, a little at a time, from each side away from the valve.

When you get 180 degrees from the valve hole, things start to get FUN!!

If you've done this enough, and your thumbs are strong enough, you can seat the final portion of the bead with little struggle. Go a millimeter a time if you have to, bit by bit.

If it helps, you can place the wheel on a work bench, with the axle hanging below and against the edge of the bench, lean your body against the rim to get leverage and to keep the wheel from moving, to get that final portion of the bead installed (my bench has a metal edge to assist with this, though at this point I don't need to use it).

Inflate the tire a few more pounds, and carefully look around the beads, on both sides of the rim. Make sure you didn't get the tube pinched in between the tire and the rim. If your tube was initially inflated sufficiently, this shouldn't be a problem. Once you're confident you've installed the tube and tire correctly, inflate to the pressure you prefer.

DISCLAIMER: I use older Mavic Open Pro semi-aero rims and high-quality folding tires that can seem difficult for most users to install, but I have never, ever needed to use a tire lever to install tires, no matter how tightly they fit. I have not tried to install modern tubeless tires on rims--but I still bet I could do it without tools.