Once you figure out exactly how much it takes to bring the level back up to where you want it, then write that amount down somewhere. Good place would be on the blank first page of the owner manual or the maintenance manual if you have one. If that is the correct amount one time, it is going to be the correct amount each time, unless you do something else different.
I don't fill mine all the way to the top mark. I run it about 3/4 of the way from the bottom mark to the full mark. It takes 5.25 quarts to fill my 2019 F3-S back to exactly where I want it, after complete oil change and filter change. I double checked it several times on the first 2 oil changes and it was always the same. I now replace the filter and plugs, put 5 quarts in, and measure another .25 quart with a kitchen measuring cup, put that in, good to go. Go ahead and ride it, then check the second time after you shut it off in the garage, shop, or where ever you keep it.
You will never get every drop of oil to drain out during an oil change. Some will be trapped in a low spot or just as an oil film on the inside of the engine. Do it the same way every time, and you should get the same result every time. I think maybe the amount required listed in the manual could be for a new, dry engine that has never had oil in it. Just be careful to be parked in a level place each time, and it will come back up to the same level every time. Put in what it needs and don't worry about what the book says. If you put back what the book says, you will be over-filling, which is just as bad as under-filling.