I’d second that suggestion of finding a CMM service.
Both of the following are assuming those 5 vias around each device are the test points you’re speaking of.
As a mildly “out of left field” alternative, Try this:
- Try photo-copying the PCB. That should make a reasonably undistorted image of the PCB that you can then start measuring from. (You might need to de-solder that 330uF cap in the lower right.)
- Pick some reference edges, (I’d recommend the top and right edges from the photo you shared, as they are straight, perpendicular, and unblemished.) and have at it with a square.
- Pop those dimensions into KiCAD and place the test points.
- Make a 1:1 test print and double check your work. Adjust the values and repeat the check.
- Once you’re good to go, then order a PCB for that.
Alternatively, if those vias are not filled, what you could do is use them as a template and transfer the locations to something. I’m envisioning that you use a drill (if you can find one small enough) or a dowel or needle that will fit. Ideally, maybe use a piece of ESD delrin for the substrate. You can mark it directly, and then use the marks to come back around with a mill and drill the hole for the pogo-pin sleeve. Finally, use some sort of find adjustment to set your edges.
Hope that helps.