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You can get a digital multimeter free or cheap (~$5) from Harbor Freight that will do the job. Watch for coupons in inserts in the Sunday paper or on their web site. The ones in the paper are usually free w/ any purchase (with no minimum amount specified).
Easiest way to get the terminal you need is from a Metra 71-1761 or Scosche TA02RB harness. The HU is providing a 12V output on that pin. You need to add that pin/wire to your car's 10-pin plug, then connect the free end to the wire on your car's AM/FM antenna plug. That will send the 12V from the HU out to your booster amplifier.
As a temporary fix/test, you can connect a small-gauge wire from pin #3 on the 10-pin (+12V Accessory power from the car) over to the wire on the AM/FM antenna plug.
But before you do either of those, you need to verify that the HU is not already supplying 12V to that wire on the antenna plug.
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