Basically, I agree with MikePA. I've placed about 40 posts (4X4s & 6X6s) 2 years ago, using ground treated wood (it's green tinted when purchased) and concreting such into place -used 300 lbs of concrete around posts which bear the fence gate (6X6s), and 80 lbs around the rest (4X4s). Nothing has moved, at all.
The PHD, quite obviously, has to move in an arc, so you can either drill a hole much bigger than you'll need for the post and concrete, so you can line up the post in the slightly crooked hole, or use a smaller auger if you move the tractor slightly during the hole drilling, to keep the auger near vertical (if a FEL, just place the lower blade of such on the ground, and move the tractor slightly as the PHD drills down). No big deal either way.
Caveats - don't let anyone within a foot or so of the auger (or pto shaft); start slow with the rpm on the auger, and speed up depending on the soil; pull the auger up briefly every foot of digging (depth) or so, to avoid augering the rear of your tractor into the ground (a neophyte "gentleman farmer" neighbor of mine managed to lift the front wheels of his tractor off the ground with an errant auger - had to back out the auger shaft with a large wrench to get his tractor back on solid ground - go figure).
Good luck - you'll have fun.