The simple answer is "no". There is really no way to be certain of pressure other than using a pressure gauge. Velocity is one of the best alternatives, and for that you need a chronograph.
There was a test done a few years ago by a gun magazine on the topic "visible signs of pressure". They intentionally loaded ammunition hotter and hotter, shot the ammunition, and measured the actual pressures with a pressure gauge. A couple of the rifle loads measured over 80,000 PSI before there were any "visible signs of pressure" noted such as sticky bolts, etc.
I can't imagine reloading without one. They're relatively cheap and easy to use. If you are getting velocities that are much slower than standard, you're giving up performance. If you are getting velocities that are much faster than standard, you're pushing the pressure envelope. Without a chronograph, you don't have one of the most fundamental and valuable pieces of data needed to make an assessment of your ammunition.
