It would be very helpful if your DNS provider would have some sort of API, so you can automate the adding and removal of the TXT records. If it does, you could write two scripts (one for the adding, one for the removing) and use those scripts with the manual plugin so it can be automated.
If you can use those scripts, you can run certbot-auto renew. If not, you'll have to re-run the same command as you did before (like @danb35 said), as renew will only run without error if it doesn't need manual input.