Just COUNT the teeth!
Reach in with a paint marker, mark a tooth, rotate the wheel.
Yes. Any Commando today is likely to have had the gearing changed. I've owned road Commandos with 19t though 22t countershaft sprockets and raced with 24t sprockets. The difference between each one is stark and provides characteristics for different needs. The factory provided different sprockets at different times and for different models. If you're going to be relying on the number of teeth on your Commando, you have to count the teeth on the sprocket that's actually there after 50 years of riding after the bike left the factory -- there's a very good chance that the sprocket was changed by someone during its previous life.
OTOH, if you're interested purchasing a chain, it's much better to count the links that are on your existing chain. Once you have that info, inspect the adjustment and assure that your existing chain is providing correct adjustment location. (I've seen mis-specified chains fitted to Commandos with the adjustment all the way towards the rear of the motorcycle when the chain was new. As a chain wears normally, the adjustment will normally move towards the rear so a new chain should give correct slack and an adjustment location towards the front of the adjustment slot.)
It should also be noted that a worn chain will engage the sprocket (both countershaft and rear wheel) at a different point causing wear on the teeth of the sprocket. If you're going to change a chain because it's worn, it's a good idea to carefully inspect the teeth on both sprockets. Nothing will cause premature wear on a sprocket as a worn or poorly adjusted chain and nothing will cause chain wear and damage more quickly than a worn sprocket. When you're putting a new chain on is the perfect time to inspect everything. Don't just "get the right number of teeth" to order a new chain and install the new chain without checking everything.
IMO, the best way to install a new chain is to turn the rear wheel so that the "split-link" is visible, remove the split link and let the lower run of the chain fall loose (support it so it can't run backward due to the weight of the upper run). Then attach the new chain to the end link on the rear of the rear sprocket and turn the wheel so that the new chain is drawn along the correct chain run; soon the two ends of the new chain will come together so that the new split-link can be installed and the chain tension (and rear wheel alignment) can be adjusted. If you don't use the old chain to pull the new one in, you'll have one hell of a fiddly, greasy, frustrating job of getting the new chain up inside the chain guard, behind the primary cases, over and around the countershaft sprocket and back to the rear wheel sprocket.
It's not just a simple "put the new one on" job, it requires care and attention to all the details to assure everything is set up to perform correctly. Good luck.