HRTF are measured in anechoic chambers, and require some specific equipment to avoid spending the next week moving a speaker by 5°, going back to record a sweep, move the speaker by 5°.... And that in full circle many times for each elevation angles. Unless you know someone working in one, forget about it for now.
You have not so accurate solutions based on taking pictures or a video of your head where your HRTF is modeled, but how good is this? Well for now it's not as good as sticking a mic in your ears. Also once you have those HRTF files, you still need to find something to use it with and for now...
For a more limited approach where you'll try to get the sound of a room as perceived by your ear, instead of an actual HRTF, you're in luck as a fellow member worked his butt off to do this
https://www.head-fi.org/threads/recording-impulse-responses-for-speaker-virtualization.890719/ you need to find some binaural microphones or make your own. And follow the process to record yourself in front of some speakers. The end result here will be like OOYH but with your room and your ears. So, much more realistic but also probably not as impressive acoustically as some of the rooms he measured. I'd go with feeling real any day, but someone else might think differently.
Surround is Surround. It never felt completely right to me, but on occasion with a movie or some specific track, it can be a lot of fun. I wouldn't go toward Surround if perceived realism is your target.
If you don't mind paying a lot, possibly waiting a while, and then going temporarily crazy trying to figure out how to measure and create your virtual rooms, then you'll want this
https://www.head-fi.org/threads/smyth-research-realiser-a16.807459/ knowing that it's still not finished(at least not on the software and certification side), and that they're still dealing with the kickstarter campaign delivery after too many years. But even then, it already does a lot more than the competition so...
It adds head tracking that is calculated on as many angles as you decided to capture(yes you have to look in each direction like an idiot, be super careful not to move the mics in your ears throughout the process and it's really hard to do without someone to help and several trials. But the result is modeled on all those captures of your own head in the actual room instead of using some average HTRF model that may or may not be a fit for your own. My personal opinion is that the effect feels very realistic, but also the full price is ludicrous and I would not buy it at full price. I'm torn between thinking it's too expensive for what it really is, and never wanting to listen to headphones at home without it ever again.
A word of caution, the result is not incredible with cats shooting lasers through their eyes. You get an experience close to using speakers. It's cool but it's not magical.