Yes, shoot it, then take a waypoint of where you are standing with the gps. Walk over to the dead animal and then get the gps to tell you the distance back to the waypoint.
If you want to find out the range before shooting it then use the gps to make up a range map i.e. that hill is 600m and the tree in front is 400m. The deer standing half way between the hill and the tree is then logically 500m
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