If you want better than a posi-tap or those wire taps shown on the mcmaster link "scotch lock"
(all those things are crap, even the good ones) but less work than physically braiding the wires together than soldering them ...
Just get a butt-crimp that's big enough to take both wires, and on the side where there's only one wire, strip the line back far enough to double the wire over. Strip the wire, twist the strands so they aren't straight, than bend it over and crimp. Use heatshrink or tape. Go on your merry way.
There's absolutely no way I would have EVER used a posi-tap or other wire tap ... or any variant thereof (that I have seen) in a critical circuit. I have had too many fail on me. Around 20 years time as an LMR radio installer, have done more cop cars and ambulances than you could shake a stick at.