First and foremost, FIT THE UFH FIRST WHENEVER YOU CAN !
Retrofitting from underneath is simply hard work. @Bitpipe was in the same boat as you, but I managed to nudge him into 'doing the right thing' and he put his plates and pipe in as the build went up. MBC lads joined in and helped ( took over iirc ) to lay it and it saved a LOT of grief.
The ideal set of events would be to allow for your posi-joists to have an 18mm batten atop, and then plates. The batten is required to allow you to cut the end for the pipe to transverse joist space to joist space as posi-joists can't be cut. Not a problem with regular joists btw.
The main thing, either way, is to make sure the plates are fixed up nice and snug. I use an air powered stapler to fix them to the underside of the deck material so the heat transfer ( promoted by surface contact ) is as good as it can get.
The only real tip for fitting from underneath is make sure you have a pipe decoiler, make sure you have at least 3 people on it, and don't be in a rush to do it. Pulling in 100m of pipe is a pain, kinking the last 10m piece and having to pull it all out and start again would be soul destroying. .
Cut a few short pieces of pipe and get used to the minimum bending radius, ( before the pipe kinks ), by trying to form 180o bends in the sample pieces. That'll give you an insight into how far you can & can't 'push' the pipe.