What is the process for withdrawing money at the counter of a Thai bank with a foreign ATM/debit/credit card?

You want to request the "counter withdraw".

Some banks will do it, some will not. Several reasons:

1) The staff may not understand the request.
2) They may not have the machine necessary to do it.
3) They may not want to be bothered with it.
4) They will point to ATM anyway (kind of a summary of points 1-3).

Let's assume that they do understand the request and have the machine to do it, and it is working, and they express a willingness to help. Then you have a couple of more hurdles:

1) some may only do it with credit card (if they see the word 'debit', they might not do it). You can politely coax them into attempting it.

2a) Yes, you need your current passport.

2b) You need a 'branded' card (e.g. Visa, Mastercard, maybe American Express, etc). You cannot have just a plain ATM card; not sure about UnionPay.

3) find out from your home bank what the counter withdraw limit is. Do some math ahead of time to get an idea as to how much you can withdraw each time (or per day). Sometimes you can request a temporary limit increase depending on your relationship with your bank.

4) They may have a maximum # of times per day in which they will attempt the withdraw. Usually it is once, but that can vary from branch to branch. So if it is declined for any reason, you have to try a different branch (that can/will actually do it), or try the same branch on a different day.

They will likely make a couple of copies of the passport and you have to sign them. You will sign a slip printed out from the machine. And a couple of other standard forms.

You can email or call each of the nearby banks (the main customer service #) and ask which one has the machine. Also ask other expats in your area. Larger branches in tourist areas or hubs are much more likely to have the counter withdraw machine than small branches. If the request is less than the ATM maximum withdrawal limit (20k-30k depending on which ATM), they may just point to the ATM machine.

Additional notes

The now 220 baht ATM fee applies to all foreign [non-Thai bank] debit cards. Back in 2010, it was 150 baht. I understand in 2002, it was 50 baht. This does not seem to be regulated by Bank of Thailand as most fees are. Instead, the Thai Bankers Association sets this fee. It only works if all the banks agree (de-facto enforcement. If only 1 bank did it, then you would just avoid that particular bank's atm).

AEON Atms used to be fee-free and allowed up to 40k baht per pull, but now it is 150 baht and only 20k baht per pull. And they only do increments of ฿1000. CitiBank also charges 180 baht now.

Only foreign ATM cards that do not charge foreign transaction fee AND reimburse the atm fees would allow you to get your funds for free. Good luck finding a bank that will do this.

Remember that there is gas/taxi to factor in here.

What are the other options?
- Swift Wire Transfer (need local bank acct, fast, cheap if it is large fund transfer)
- transfer via Bangkok Bank (can be cheap, but take a couple of days)
- Western Union (quick but expensive, although it has gotten cheaper in the last few years)
- TransferWise or 3rd party transfer service
- Bring cash (how much cash do you trust yourself with?)
- Bring travelers checks (fees to make them, and fees to cash them [153 baht minimum per check, regardless of denomination])

Read more here: What is the best way to get Baht in Thailand?

It's ultimately a question of immediacy. ATM's provide quick, no-nonsense immediacy to your cash. Try to insist that you prefer the counter withdraw; but the amounts that you discussed in OP (7k) might not help. Since the 220 baht fee is fixed regardless of the amount, pulling out more at once (20-30k max depending on bank ATM and your own home bank debit card limit) is a cheaper strategy.