The correct way to "tap" into a connector housing is to remove the terminal attached to the wire you want to "tap" into, place the OEM wire and your new one in a new terminal and reinsert that into the connector housing. Having said that, tapping into the wiring harness is a generally bad idea, unless you've taken the time to analyze the circuit and are 100% sure you haven't exceed the circuit load. There may be 3 people in the world who do this.
That's why it's a much better practice to use unused connectors which are already in the wiring harness; they're already fused and not currently sustaining any loads. You can buy the mating connector housing, a terminal or two, and make a pigtail you can install and remove as you please.
My problem with vampire taps is that they break the insulation and the stranded conductors in the harness, leaving you with:
a) an exposed wire that attracts corrosion and is a failure waiting to happen, and
b) breaking 20 ga stranded wire means you now no longer have 20 ga wire in that circuit; it's less by however many strands are remaining in the conductor. And there aren't that many strands to spare in a 20 ga conductor.
IMHO, these things are made for people who work on other people's cars and can afford not to worry about electrical failures - because it won't happen to them.
We really need a stump dismount emoji...