How does a Pt and reference electrode measure the cell potential in a potentiometric titration?
It is a very good question. Your question has nothing to do with current being drawn or not or a reference electrode etc. Imagine a single Pt electrode dipped in an Fe(II) solution and forget about the presence of cobalt. Imagine that a metal is a source (sea) of electrons.

The moment you dip the electrode, instantaneous exchange of electrons takes place between the metal and the reducible or oxidizable ions. Electrons can be released by Fe(II) to form Fe(III) and similarly electrons can be gained by Fe(III) to form Fe(II). This exchange rate is dependent on the concentration ratios of Fe(II) and Fe(III).

As a result of this exchange, the Pt metal develops a charge. It is very surprising that you only need to remove a very very very small number of electrons to develop a measurable surface charge. Hence, there is no perceptible change in the concentration of Fe ions. If platinum electrode develops a charge, the interface (solution electrode boundary) develops an opposite charge until equilibrium is achieved.

Now given the fact that Pt electrode is charged i.e., if we connect Pt to another electrode, we can sense the potential difference between the Pt electrode and another electrode, which can be any other electrode. Now that you wish to have a stable. For that purpose you need an electrode whose potential is fixed i.e. a reference electrode.