It takes practice to develop the "feel", but consistency is key. The position should be built the same way every time. Each part should have a reference to another part. My support hand is against the sling swivel and support elbow under the left-rear edge of the magazine, so any change in sling tension is felt in the shoulder and seen in the Natural Point of Aim.
If you're shooting at one distance (200yds?), record your zeroes for each position. If my carbine was put back in as-issued, I know my Sitting and Prone zero is up 1.5 MOA and left 1.5 MOA from Offhand.
My local match is 100yds. With an NM, my Offhand is 1 MOA higher than Sitting and Prone because of less support against the trigger pull. Other than that, my zero is at the mercy of light (irons).
Bench construction varies, but I've found that my "bench prone" sling setting is about 2" too tight for real prone.