In your situation, it is unlikely that you will find a way to keep your PR.
1) A travel document will almost certainly be denied based on that even though you were removed from Canada as a minor, you did not make arrangements to return as soon as you became an adult. If a TD is denied, that would be the first step to revoking your PR status officially. You can appeal this but you do not have strong grounds for an appeal so most likely your appeal would be denied and you would lose your PR.
2) If you are visa exempt to Canada, you have another option which is go to Canada, enter on your passport, then sit tight for 2 years at which time you meet the RO (residency obligation) and can apply for a PR card. If they did not catch you on entry not meeting the RO, they will have to give it to you and your PR status would be in good standing again. However, you would have challenges living in Canada for 2 years without a PR card. Many govt. establishments will ask for it. You may have problems getting a health card and getting a drivers license for example. It is possible using this method that the immigration officer realizes that you are a PR who doesn't meet the RO as you enter and in this case, they can report you on entry, see 3)
3) If you are not visa exempt to Canada, the only way you can enter is by the land border in a private/rented vehicle or on foot. You would have to present yourself as a PR and show your landing documents because you do not have a visit visa. The immigration officer will most likely report you for not meeting the RO in which case you would have 30 days to appeal. You would be able to stay in Canada during the appeal process but you do not actually have strong grounds for an appeal so you will most likely lose and be asked to leave. However, if they for some reason decide not to report you, you could stay for 2 years and then apply for a PR card, see 2). If you get reported on entry, any time you stay after that does not count towards your RO unless you win the appeal so even if your appeal takes 2 years or you hide from immigration, that would not put your PR back in good standing.
If you try to apply for a visit visa to Canada, you risk that they will realize that you are still a PR and will revoke your PR status, same as if you had applied for a TD.