When I discovered that I needed to develop muscle memory for my intonation, I decided to add a simple drill/warmup that would accustom my fingers to fall onto the right spots on the finger board. I call it a tetra drill because it uses all four fingers on just one string. Instead of starting out with a complete octave scale, I simply do a 5 note scale.
For example, if you play on the A string, you will use all four fingers to hit B, C#, D, and E. Then, just like scales, play the 5 notes backwards (E, D, C#, B, and open A ). I also practice these drills on every string and with different bowing variations borrowed from the Twinkle theme in Suzuki book 1.
Also, you will need a tuner to check on your intonation. It’s always good to check if your notes are on key. My tuner is my old phone that I no longer use. with a tuner app known as Master Violin Tuner by Netigen.
Eventually I will use the same drill to improve my intonation for my natural notes. I’ve been having trouble adjusting to a close first and second finger to hit C natural on the A string. I am sure this same drill with a second finger adjustment will be good training for hitting better natural notes in first position.
Below is the video that demonstrates the Tetra drill I do with every practice session. Try this drill to improve your intonation, posture, and overall skill. I know this drill has been the biggest help in training me to play without my fingerboard guide in first position. I hope this helps you too.