command:
$ sudo asterisk -rvvvv
*CLI> pjsip show endpoints

Output:
Endpoint:

I/OAuth:

Aor:

Contact:

Transport:

Identify:

Match:
Channel:

Exten: CLCID:
=========================================================================================
Endpoint: 0000f30A0A01
Unavailable 0 of inf
InAuth: 0000f30A0A01/0000f30A0A01
Aor: 0000f30A0A01 1
Transport: transport-udp udp 0 0 0.0.0.0:5060

Endpoint: 0000f30B0B02
Unavailable 0 of inf
InAuth: 0000f30B0B02/0000f30B0B02
Aor: 0000f30B0B02 1
Transport: transport-udp udp 0 0 0.0.0.0:5060

Objects found: 2

localhost*CLI>