I always fill the fluid to what the manual says for a drain and fill, and fill it that much exactly.
Then, the following day, without running the car and checking it in my parking spot on a dead cold engine with the engine off, I check where the level is on the transmission dipstick and take note.
On my Fit, with the factory volume, on a dead cold engine that hasn't run in the morning, the ATF fill level is EXACTLY at the MIN mark.
So now I know if I need to top up, I just check it the same way as I would engine oil. On a cold vehicle that sat overnight and hasn't moved. So if the transmission fluid level is low, I just add more until it reaches the min mark.
In the manual, it says that the level, when checking it using the procedure (op temp, engine off for less than 2 mins) the fluid should fall between the min and max mark.
I tried to check the level with the spec procedure, but in the Winter the temps are all over the place, so the level seems low some days, and other days it seems overfull.
I even pulled the dipstick once and it was aerated (overfull). So with transmission fluid, you just can't seem to go too wrong by just filling to the MIN mark on a cold engine and transmission before the car was run for the day.
So if it expands from MIN, it will fall into a nice range normally when the fluid is warmed up a bit.
I don't think that it is as super crucial as most people say. Drive the car 2 miles, park on flat and check. If it is reasonable the level I'd pay it no mind.