You need to get good coverage of glue into the recessed areas. Use an acid brush to spread it evenly. Also if you try to lay the vinyl flat on the panel and push it into the design it will most likely not stay. This especially when using 1/4" foam. You may get away with it with 1/8" foam. With the thicker foam you need to work the vinyl into the design. Start at the bottom of the panel and roll it towards the design. When you get to the cut out, work it into then out. Use a smooth edge tool to work it into the design. A screen spline roller will work.
I ONLY use high temp adhesive on door panels and headliners. Weldwood HHR landau top adhesive is the best. I learned the hard way!!!!