I think you have answered your own question. Actually, there is another way. Either use a centre punch which is a good fit through the subframe trunnion to mark the metal, and drill it with the subframe out of the way, or use the drill bit alone and twirl it with your fingers to make the mark. Either way, drill a small pilot hole, say 3mm, in the mark you made, and that will help centre the larger drill.
By the way, there are no "8mm" holes anywhere in a Mini, although 8mm is near enough in this instance, if you can actually get the bolts in. The bolts are 5/16" UNF grade 8.8, 1.25" and 2.5" long, and the holes would be a bit larger than 5/16", which is 7.9375mm, to allow some clearance. It would be normal to make them about 8.5 to 8.8mm.
Please don't use metric bolts and nuts here, because an M8 bolt has a coarser thread pitch than 5/16" UNF, which brings two disadvantages, it needs more torque to get the same tension in the bolt, and because the thread is deeper, the core diameter is less, so the tensile strength is less. In this case, the difference is rather small, and you would probably get away with it, but in other cases, not so, and it is easier to be consistent. Also, if your Mini, as many have, starts to be populated with a mixture of metric and imperial bolts, future maintenance tends to involve lots of skinned knuckles and stripped spanners and bolt heads. Yes, I know you never said you were using metric bolts, but some people reading this thread might think it is ok, when it is just not a good idea.
The trunnions will not rattle about all over the place as a result of having modest clearance in the holes, because with correctly torqued up bolts there is sufficient friction between the surfaces to prevent movement. Most engineering is done that way, not many bolts are directly loaded in shear, and those which are, are "fitted" bolts in reamed holes, not appropriate here.