The DEF gauge isn't linear. It will show full until its about half a tank, then it will quickly drop down towards empty. One day you will get a warning that DEF is low, that is usually when I fill up. If you don't fill up then, you'll eventually start getting messages saying 250 miles to shutdown, etc.
During the summer we take shorter trips, so I just dump 2.5 gallon jugs in when I get the low DEF warning. In the winter we take a long trip, so I usually fill the DEF at a pump, so I can fill the tank.