(I have read) You read from the graph volume of acid (M) required to reach equivalence point, take half that volume of HCl (M/2), then use graph to determine the pHhalf at that "half-volume"
Then pKa = pHhalf (at this half equivalence point)
I'm pretty confident there is a numerical method that could analyse the data and come up with a value - (thinking off top of my head) something along the lines of - find the steepest gradient by finding difference in vertical values (pH) divided by horizontal (voulme) values, find mid point of the horizontal (volume) range = M, then take half that value (M/2) and go back into the dataset the find the relevant pH for this "half volume" (M/2). Really all I'm doing is to try to convert into calculations the steps I would take when reading the values from the graph.
Clive