Yes, getting an accurate figure for the pressure you've achieved would be tricky without a gauge. I did actually have a gauge for a bicycle once - it came free with a certain brand of inner tube. However it was so inaccurate that I binned it. I think the rule of thumb, literally, is to depress the tyre with your thumb and see how hard or soft it is compared to how it feels when correctly inflated. If you can hardly compress it then that's probably fine. Not very scientific I admit. All you can do is your best with the pump you have with you. If that proves not to be enough, try to avoid any potholes and maybe get a better pump for next time. I reckon 85psi is alright though, unless you hit a nasty pothole. I think you can just pump it up as best as you can to get you home and not worry too much (if there's nothing more that you can do, worrying won't help).