You can measure what you drain out, and put the same amount back in.
The only problem here is if was too low or too high in the first place.
I have encountered snorkel removed drained quantities anywhere between 2.5 liters to 6 liters.
As far as the fluid temp goes, you might get yourself an infrared thermometer pistol and aim it at the transmission near the drain hole.
Someone else on the forums suggested that since 35*C is approximately human body temperature that putting your hand on the tranny would give you a sense of the temp compared to your own.
I can't imagine that the fluid volume changes
all that much in an error of a few degrees if you are off.
Start with putting 5 liters in.