There will likely be areas that will need to be polished by hand.
FWIW, I think you will find using terry cloth for polishing those hard to reach areas will give the polish a little more "bite" than a foam pad.
If you are just using a paint cleaner or applying wax/sealant, the terry cloth isn't of any real benefit for me, but with a polish, it does seem to make a difference.
As far as the taping, it might be a good idea, but I never have felt the need to tape things off. It depends a lot on the products being used and I have no idea if the Menzerna products will stain trim.