I have used sonotubes before, what we did was dig the holes a few times with a backhoe once with an auger truck, the auger truck was a 24" auger and worked very well, with the we poured 8" of concrete in the holes with rebar bent in 90's sticking up in the centers, we formed boxes with the backhoe holes and then did the same, then the sonotubes were set on the cured bases with rebar and poured to the desired final height, at that point it is just a nice form to hold the concrete, then shove a pole base plate into the wet concrete.
In our use the sonotube is just a form to set on a spread footer, with the spread footer being below frost grade.