A useful traditional test is to put a vowelled hamzah before the target consonant and pronounce that consonant with sukūn. The place at which its sound is blocked or distinctly formed helps identify its articulation point.
أَقْ — rear-tongue qaf.
أَكْ — somewhat more forward kaf.
أَفْ — upper teeth with lower lip for fa.
أَبْ — complete lip closure for ba.
Long vowels do not have the same fixed blocking contact; identify them from the preceding short vowel and sustained open sound.