The way I did it the first time was to drain, r&r the pan then refill with the same amount that came out plus a few ounces for good measure. The 2nd time cost me $800 at the dealer.
Temperature could make a significant difference in the fill level, depending on how tightly packed the case is.
The whole lifetime fluid concept is a real [censored] shoot. Even after ZF changed the spec dealers still swear by it in order to deny warranty maintenance plan service and collect those easy $800 service fees. How long will you keep the car, and do you feel lucky?