Best thing I did to improve my range finding is to find a nice flat piece of ground, mark a start point and then take 10 paces and then measure it. This will give you the distance for 10 paces. Mine are pretty close to 10yds (short by about 6 inches)
When you know this you can then use it all the time. Imagine just going for a walk to get the morning paper. Guess the distance between to objects in a striaght line like 2 lamp posts or something similar. Then pace it and see if your guess was right.
After a while you will get to visualize 10 paces in your mind and then multiply it by 2, 3 or 4 times. It does take practice but then you need to learn how shadows and hollows fool the mind into thinking it is further than it is.
I use this method to get an idea of the ranges at FT/HFT shoots before confirming using the scope.
infensus procul vox locus procul nefas vicis
I aimed at the right place at the wrong time.