As a contractor, you may have little influence to affect a change in development philosphy at a particular company. That's part of the price for being what most companies would consider a temp. For you as a person, sometimes the best you can do is learn to adapt to the current corporate culture and learn what works and what doesn't for when you are in a position to influence.
You can always do the test driven parts yourself so at least you know your code will pass the tests. I wouldn't look at that as overhead either, it is part of writing code to test it make sure it works. There is far more overhead associated with not writing tests.
If a place has no particular development methodology, then there are two ways to get one. First is if the developers mostly agree on what philosphy to use and they just start using it and show management it works and improves the product. Developers are remarkably free to figure out how to do their work, more so than many other professional specialties. Use this to your advantage. Get a small group of like minded folks together and just start using a method you all agree on. Indoctrinate anyone new to the group in how you do things. Show real progress and management wil get on board with it (managers like anything that makes them look good).
The second way to change the corporate culture is from the top down. Change one senior manager's mind on doing this and he can mandate that the new methodology be used. It ain't pretty and people will fight doing it (this is called resistance to change and it is a normal condition and you need to expect to deal with it.) Again build a few successes and it it gets easier, but your manager must have the gumption to stick with the policy through the hard phase of getting people to use the new method and there must be consequences for those who do not follow the new method. Sometimes having a test project with volunteers to use the methodology first can prove the value to the others, sometimes, people are just deadwood and won't change no matter what.
People who, after some time and mulitple chances to change, still refuse to get on board with the new policy will need to be let go no matter how good they are as individual developers. If you can't follow the team rules, you need to move on or be moved on. A culture change can't be accomplished without everyone eventually coming on board.
Sometimes you can use outside influences to get managers to change the way of doing business. We changed our whole development process here in order to get a certification required by one of our largest customers. HIPPA and Sarbanes-Oxley laws are also responsible for many companies formalizing a development process. If you can make a case to mamangement that formalizing the process to get some sort of certification or comply with the law is a benefit that will get them more business, then perhaps they will suddenly see the value.