We make a similar guess for the stuff that is in the center of Earth. We measure local gravity and speed of sound velocity, and we guess here is liquid, here is solid, here is this rock, here is this another rock [1]. See for example https://www.livescience.com/64943-nobody-understands-the-gia... nobody has seen them, we guess they are there.
Dark matter is another guess. We guess there is more matter in galaxies than what the telescopes show. We can compare the amount of mater guessed from galaxy rotation with other measurements. In this case they compare it with the gravity between a few galaxies.
Nobody is happy that we don't know what dark mater is. There are a few theories, but none of them has enough experimental support. More lack of confirmed details in https://en.wikipedia.org/wiki/Dark_matter#Composition
Dark matter is another guess. We guess there is more matter in galaxies than what the telescopes show. We can compare the amount of mater guessed from galaxy rotation with other measurements. In this case they compare it with the gravity between a few galaxies.
Nobody is happy that we don't know what dark mater is. There are a few theories, but none of them has enough experimental support. More lack of confirmed details in https://en.wikipedia.org/wiki/Dark_matter#Composition
[1] I don't know enough about rocks https://xkcd.com/2501/