How to use 3D camera tracker to place a building plan on a drone shot of the land?

If the lot is flat, make sure that you grab a bunch of points on the same surface, adjust the Target's position, then set an origin and ground plane before you do anything else. You can then use the same Target to add a solid and a camera. Change the Track Solid to a guide layer, add the Grid Effect, and verify that everything is tracking correctly.

Now you can use Shift + Parent to snap any other 3D layer to the same position as the reference ground plane and easily adjust the X and Y position and even the rotation to line up the drawing to the lot.

You can use Element 3D or C4D to add 3D models to the scene if you do the following: Add a new 3D null to the comp on the same frame you used to set the Origin and ground plane, parent all 3D layers, and the camera to the 3D null, and then reset the position of the null to 0, 0, 0. After that, any new 3D layer you add to the comp will be visible in the camera and easier to adjust and position.

I should have started by suggesting that you use Detailed Analysis when you track. Find it under the Advanced options. If the perspective of the first reference solid you add looks right, there is no need to set the angle of view for the camera. Sometimes setting the angle of view will foul things up. It all depends on the shot.

I you could share a sample video of your typical project, I might be able to give you some better suggestions.

Again, Mocha AE and Corner Pin tracking workflow depends on the shot. If you have a shot that won't track, you can use Mocha AE to track the lot and then use Corner Pin tracking to place the Building Plan on the lot. I use both techniques all the time when I'm creating composites on shots with moving cameras.