LOL! Don't you just "love" those last minute, "Oh, by the way" comments?
Yes, mindreading lessons would definitely help sometimes. I have to say though that my DD is very good about telling me the details, so I can't really complain. However, I have friends who are forever being taken by surprise with the "But we didn't want you to do that" remarks.
Short of mindreading, I think asking questions could help in some of these cases. I know if I'm not sure if DD would be ok with this or that, I just ask, even if it means calling or texting her after she has already left the GC at my house. Sometimes, she gets annoyed, but I figure better she be annoyed for a moment than angry at me later. Most of the time, she appreciates it or is just matter-of-fact about it. So I say, if you're not sure, ask!