JST , I think the trick is in the STRETCHING and smoothing ... We stretch as much as we “practically” can (without distorting the fabric) when applying canvas or any covering , then Smooth out the air bubbles underneath with a hand or squeegee ... It’s just like doing fiberglass really , as you Have to smooth it out before the glue dries ...

Covering is not easy to get perfect , takes a little practice , but is so easy to repair it really doesn't matter ...
On the panels you have , I’d try soaking the bubbled areas with a wet towel over the top , which will soften the glue ... then try ironing the bubbles down with a damp cloth under the iron. Carefully !!! Don’t use so much heat that it melts the foam .... and as with everything else around here , you might want to test that on a piece of scrap first ...