How can you tell which VSPER shaped are polar and which are non-polar? Is there a good way to memorize them?

When you get the shape of the molecule, you 1st determine if there are any polar bonds. If there are polar bonds, then if you can separate all the positive charges and the negative charges from one another, then it is a polar bond. Also, only certain shapes can allow for polar bonds, like bent, and trigonal prymidal. I will attach a chart that shows the different structures.