A gauge would be the only reliable/accurate method to know what the humidity is. You could estimate it, I guess. If the substrate is dry, no moisture on the enclosure wall, etc, you know it is dry. But the exact humidity would be unknown. I guess if your substrate was very wet, moisture and condesation on the walls, and it doesn't evaporate after a long period, you'd be likely 80% plus. A gauge is the best method, but unless you have a very picky species, it shouldn't be a problem not having a gauge.