Here is the solution I found, which to me is unsatisfactory.
This solution uses Table 24 from Riesel’s “Prime Numbers and Computer Methods for Factorization”. Look up the number you are interested in in the n column, and note down the two sets of coefficients given there: they are $U_n(x)$ and $V_n(x)$. Multiply each coefficient in $U_n(x)$ by $p^0$, $p^1$, $p^2$, …, $p^{p-1}$, and those in $V_n(x)$ by $p^1$, $p^2$, … $p^{p-1}$. Then take a coefficient from each list alternately and you have your factor. Do the same for the other factor after multiplying $V_n(x)$ by $-1$.
Example for $p=11$:
$U_n(x)=1, 5, -1, -1, 5, 1$
$V_n(x)=1, 1, -1, 1, 1$
Multiplying by powers of $11$:
$U_n = 1, 55, -121, -1331, 73205, 161051\\ V_n = 11, 121, -1331, 14641, 161051$
Taking the coefficients one at a time from each list one factor is $x^{10} + 11x^9 +55x^8 +121x^7 -121x^6 -1331x^5 -1331x^4 +14641x^3 +73205x^2 +161051x +161051$ and the other factor is
$x^{10} - 11x^9 +55x^8 -121x^7 -121x^6 +1331x^5 -1331x^4 -14641x^3 +73205x^2 -161051x +161051$