I’ve done dozens of these, never needed glue for the foam. It should stay in place. The hardest part is reindexing the frame into the door so it seals well against the body- hopefully you marked the shims, if not, don’t clean it and look for the dirt spots

This one doesn't have shims, but it does have some wiggle before the bolts are tightened. I pretty much pulled it tight toward the car and tightened it down, seems like it's tight when I close the door? I'll keep an eye and ear on it, I can readjust w/o removing the door card.