Yes. We have reasonable approximations of the shapes of the countries etc., but not the best understanding of positioning in relation to the edges. There are never-ending debates around flights between Australia and South Africa and South America, for example. A proper understanding of Antarctica (the edge), in my view, would allow more precise positioning and reduce such arguments.
We have. Look at the map. It's the South "pole". Not actually a pole, but we can't go further South. Actually, we can, but it's not recorded on any maps. That's why the governments maintain a monopoly on access to Antarctica. They don't want people to know the truth.