Some options:
Uninsulated open barrel splice connectors (B-crimp splice), just need to cut the insulation in 2 places (like 1/2 inch apart or whatever) with wire strippers and remove that connecting piece of insulation with a razor blade. That's the OEM splice method for many automakers. Don't need to cut the wire to tap into it. And, you can splice multiple wires together as well, so less splices are needed.
There are also uninsulated parallel wire connectors that can be used like the B-crimp splices, but only if they're sized properly and if the wire isn't shitty PVC hookup wire with really fat insulation. You still have to remove a section of insulation, and slide the splice all the way from the end of the wire (it's a closed barrel).
Butt splices, daisy chain the wires. Need to cut the wiring into pieces to daisy chain, but I don't know why that's a problem....?
Crimp caps, daisy chain the wires. Same concept as a butt splice, but often easier because the wires all go in the same direction. Also need to cut the wiring into pieces to daisy chain.
Aptiv/Delphi Splice Pack connector, basically a bus bar in a weatherproof connector body. They make a 6 bussed position version, which could be 1 wire in and 5 wires out (5 lights......). May have to extend the wires to reach the connector, depending on where the connector goes.
Put a 2-position connector on each light, and daisy chain the power and ground on the each crimp pin on each connector. Has to be a connector type that can handle two wires in each crimp pin, of whatever wire size you're using.
Solder method: Cut the insulation in 2 places (like 1/2 inch apart or whatever) with wire strippers and remove that connecting piece of insulation with a razor blade. Put a pick through the middle of the wire strand bundle to divide into two bundles, insert tap wire through the middle. Twist the tag end of the tap wire around the rest of the wires, solder the joint, insulate with heat shrink or whatever.
You can also just wrap the tap wire around the outside instead of dividing the wire strands, and that probably doesn't matter for what you're doing.
See, there's plenty of options that don't involve IDC taps.