I have found that this is usually not necessary, at least for many planets. As a rebel, I usually use any planet to make pairs of troops (usually a plex and a standard soldier). Kamino is good in this patch since they each cost 1 credit...
Send them onto planets either early on or later onto planets that the imperials haven't had time/cash to invest with ground bases. With proper use and tactics, I've been able to take down planets with anything short of heavy factories with just these two squads.
The secret is to immediately search out a build pad (hopefully you know where they are). Build bacta stations then chose whether to garrison the bunkers or not, placing additional build pads into anti-vehicle/anti-infantry turrets for "safe zones".
Now, using caution it's not overly difficult to use the troopers to scout out and engage enemies, drawing them back towards your turrets if you get into trouble, disengaging them to heal at the bacta stations when necessary. It's even easier if there's an indigent population supporting you on that planet.
As an example, I currently am trying to take over Dantooine as a rebel. I've landed my plex and soldier squads and have them garrisoned in several bunkers. I've managed to build anti-infantry and anti-vehicle turrets along the equator of the map such that the imperials have difficulty even getting into the southern half.
I'm currently using the human settlers that are spawned to run raids into the imperial's stronghold, knowing that I'll lose them over and over. In this more extreme example, I'm over half way done with taking a plenet with two barracks and one or more factories (I know there's at least one light due to the ton of ATSTs I've run into). I'm doing this with just the two squads and have lost none as yet.
In this case, without the indiginous population I would probably have to resort to sending in infiltrators, but I'd usually discourage using auto-resolve. Any competant player should be able to inflict more damage against the computer than the auto-resolve. You might even surprise yourself and take the planet without losses.
I managed this so far on five imperial planets all with at least two military buildings in place. All without troop losses.
Proud father of Darth Jack