I typically just wait for dusk, and it's easiest if you have a partner:
Select a target at the preferred zeroing range (I prefer 200m) with a 90 degree angle, and use that corner as the aiming point (boresight panel).
Using primary (and already zeroed!) day optic, lay the rifle on the aiming point and hold steady.
Turn on laser (constant on if possible).
Have your partner either adjust the laser to the aiming point while you hold the weapon steady, or "walk you on" by telling you which direction to adjust the laser.
Switch with partner and confirm aiming point and adjustment - optic and laser should be coaligned at 200m.
This method will allow you to effectively engage man sized targets out to 400m by simply aiming COM, without worrying about offsets at all, and takes about five to ten minutes to do with a partner.
You can confirm with live rounds, but as long as you're confident in your day zero, no rounds wasted, no funky math or offsets or strings involved. Simple, easy, quick.
~Augee