Scoob, cracker brought back a few memories for me from over the years.
Strange how your willimgness to accept compass/GPS over you SOD seems to go out the window as your visibility decreases ! I've done the same, in fact have used compass on a clear day to confirm direction off a summit where all directions look the same AND found that without doing it I would have gone off the wrong way......How I think that I can somehow do without compass or GPS when all around is Scotch mist is beyond me....lessons learned now, which is why you'll more often than not, check route off any summit (plus the checks through the day).
As somoene else said though its a combination of things, not least good old 'tick off features' those points along your chosen track that the map shows you should pass en route. This being one of the failings of some GPS units whereby just a route is followed or waypoints but not against a map, so there is no knowledge of the terrain even to the extent of whether you should be going up or down at any given point. Aiming off also a great technique, especially when you need to hit a point to ensure your on track.
Still this isn't a navigation course on here, but the point being a map (along with the other usual aids) contains a lot more info than many give it credit..and how many with built on maps, actually zoom in for the detail...zooming out for the wider picture is one reason why I don't like them over a map. I also enjoy reading a map as a most would a book as you can explore before you actually get there so you already have a picture in your mind.
BUT and its a big BUT, all the above is not much use when you are exhausted, your mind is a like a bag of bolts and you really just want to lay down. Even finding your going uphill when feeling like this is a downer in itself and it can often be mental exhauston that will finish you off and not the physical, the latter always seeming to have a reserve however knackered you feel.
Enough of my waffle, great read Scoob and having had the luxury of getting bits of the story first hand and now the full piece, I'm still more than happy to bag plenty more hills with you !