How do I transfer music from my ipod to the itunes on my Windows 7 pc.

I have thousands of songs in my iTunes on my computer, except many of them are listed with the dreaded "!"
indicating the song cannot be found on the computer. This was before the 'cloud.'  So now, when tried to put all my songs into the cloud, many are listed as 'missing.'    I have searched the computer and truly the song is no longer there.  I have my views about the fact that mostly all of the missing songs were NOT bought from iTunes library, but let's skip that for a minute.
Anyway, most of the 'lost' songs are on my iPod touch.  I want to add them to my iCloud, and also back to my computer. 
How do I do it.
Please note I did not use regular "sync" because, from experience when I have synced an IPod in the past,
and songs were on the IPod but not found in the iTunes library, the sync ERASED all songs from the iPod which were not
in the iTunes library------exactly what i was trying to avoid.
I swear these people at Apple hate when you have music from your own CD's and not bought from them.
Anyways, anyone who can tell me how to do this, it will be greatly appreciated. 
Thank you.
Patrick

Recovering your iTunes library from your iPod or iOS device: Apple Support Communities
Also you said " I want to add them to my iCloud, and also back to my computer.   " Note that unless  subscribe to iTunes match, only iTunes purchases are stored in iCloud.
Also,
You can redownload most iTunes purchases by:
  Downloading past purchases from the App Store, iBookstore, and iTunes Store

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