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Problem: Want to create membership for the users without using WooCommerce subscriptions.
Solution: In this case you can create or duplicate your original product >> rename it like “Renew your Membership” >> and then send a Bulk email to all users whose subscription is expired.
To send bulk email I would suggest to use some plugin like Email Users, tutorial here: http://www.wpbeginner.com/plugins/how-to-send-email-to-all-registered-users-in-wordpress/
That’s the only feasible solution I can think off without any Subscriptions plugin. Because Toolset does not have any renewal or subscription system at moment.