Hackaday reports:

OpenFixture Takes the Pain Out of Pogo Pins

[Elliot] wrote in with his OpenFixture model for OpenSCAD. It’s awesome because it takes a small problem, that nonetheless could consume an entire day, and solves it neatly. And that problem is making jigs to test assembled electrical products: a PCB test fixture.

In the PCB design software, you simply note down the locations of the test points and feed these into the OpenSCAD model.  [Elliot] shows you exactly how to do it using KiCAD. There are a few more parameters of the model that you can tweak to match your particulars, but you should have a DXF outline for a test jig in short order. Cut that out, assemble, and test.