Determining the shape of the Earth is not something you describe with any completeness in this forum. Which shape are you talking about? The topography or the gravity field? Each is a separate field of research, with many different methods.
First, the Earth is not a sphere. While a sphere is the lowest energy solution of a self-gravitating body, the Earth spins, and spinning leads to an equatorial bulge. The bulge is usually handled by approximating the shape as an oblate spheroid. Since the Earth is bumpy and uneven, there isn't an unambiguous choice for that spheroid, but a very popular one used by GPS is WGS84, defined by the semi-major axis and the inverse flattening:
$$ a =6378137.0\,{\rm m}$$
$$ 1/f = 298.257223563 $$
Nevertheless, there have been many defined since at least 1738 (Maupertuis). Some are global, others work better regionally. The most recent one is IERS (2003):
$$ a =6378136.6\,{\rm m}$$
$$ 1/f = 298.25642 $$
So once you have that, you still don't have the Earth's shape: there is a bumpy surface. Historically, high resolution maps have been local, in local coordinate systems, and not consistent with other maps from other regions. That is, if you went around the World and collected local maps and made them into one single map in a unified coordinate system, you'd have gaps, cliff-artifacts, and non-physical overlaps. This all changed with NASA's STS-99, the Shuttle Radar Topography Mission (SRTM).
SRTM used interferometric synthetic aperture radar (InSAR) to map a large portion of the Earth's surface at DTED level 0 (30 arc second posting) in a single consistent coordinate system. It has since been extended to the entire globe in a product called NASADEM.
At this point we know the Earth is round because we have the entire surface mapped digitally in a single coordinate system (WGS84).
Note that this is insufficient for actual map users because the gravity field is not spherically symmetric. There are inhomogenaities in the core, mountain ranges, and trenches that cause the imaginary level surface (mean sea level extended through the continents) to vary by hundreds of meters. Sea level actually goes down over deep ocean trenches because there is less gravity. Likewise, it goes up over seamounts, because there is more gravity.
There are myriad techniques used to solve for the geoid. One is satellite orbit metrology: the GRACE mission for example, is so sensitive, it can detect the gravity from the Amazon river in flood stage. It would certainly see a hole in the Southern Hemisphere. Anyway, once the gravity is known, it is published as "The Geoid" (at least the unclassified version is). Of course, it too is ambiguous, and there are many geoids in use. EGM96 is popular, while the "new" geoid is EGM2008.
(Note: the speed and direction of rotation, or location of the poles and length of the day, are also variable and active areas of modeling, measurement, and research.)
So: we know the Earth is round through visual observation, radar, travel, orbiting satellites, gravimetry...we all agree on that. We do not agree on what the shape of the ellipsoid is, nor do we all agree on what the gravity field is, so, you always need to specify your ellipsoid and geoid when discussing "location".