You cannot open bank account in Thailand without proper visa (assuming from the post you don't reside here). You cannot avoid the ATM fee. There is no branch I know that allows withdrawal from card (yes i read those stories that some people got lucky but they never mention which branch or the branch they tried doesn't have a person that did it; or you need to speak thai).
If you don't have local ATM card - you have to pay those fees. If you have local bank account or have friend who has thai bank account use WISE (transferwise) to get THB into your wise wallet and transfer it from WISE to thai bank account (you can just send it to that person). Note that WISE also charge commission and is one of the cheapest. You need to trust your friend.