This turns out to be fairly easy, though badly documented. To set this up you need to edit or create a registry key:
REGEDIT4 [HKEY_CURRENT_USER\Software\Microsoft\Command Processor] "CompletionChar"=dword:00000009
You set the CompletionChar value to the ASCII value of the key that you want to perform completion, which in this case is 09 for TAB.
Here is a link to an appropriate .reg file that if run will set this up for you (either run it from the web page or save it as a file with a .reg extension and then run it).