[AZKen]

So finally without you ever saying it and me asking if you meant armrest, I now see you are talking about an armrest, NOT a door handle. I have given you the ideas using a laser level. Put the laser crosshairs on the center of one armrest nut, then put panel on and drill at crosshairs.

Measuring, using the template or making a template will also work. The home made template can use a few of the panel mounting screw holes as reference.

Jake, Do you see that on the template they show the door with the template on it. One side and bottom of template is held against the door panel recess lines with the template radius matching the panel recess radius... as a way of locating the template. See my pic here. (remarks in RED).
One hole is a longer distance from the edge of template than the other hole. This long dimension is always to rear of door. That's why you mirror image the template for the passenger side.
Be sure you are locating the template in the recess of the door panel. Not to edge of door panel.