the workflow of this tutorial can be improved when you use cloudcompare instead of blender to register both meshes. the basics on registering pointclouds and meshes are covered in this tutorial https://youtu.be/4B_zzsUjIF4?si=8PSahGL_urzboLqH
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I did buy this addon on Blendermarket. Working very well. At first you set points for basic aling and the second step will do the fire tuning align.
i went on to use cloudcompare instead of blender and the icp function there, no need to buy a tool 
especially as blender has a hard time with high poly models whilst cc deals fine with couple millions of polys
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