It really depends on the console. For example, most the ones on the SNES work by checking to see if the cartridge had more SRAM than the game shipped with, since early copiers just gave the console enough that any game would work.
For modern games with antipiracy, the detection method is usually just to try and detect if it’s running under a Steam emulator or similar, or just for the dev to torrent their own game out modified to show the screen.
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