It seems like you are looking for Azure RBAC role assignments.
These are different from what you've linked to, which are Intune device management role assignments (which are specific to Intune RBAC roles). They are also different from Azure AD app role assignments (which are for assigning an app or a user/group to another app's role), and Azure AD directory role membership (which is for assigning users to directory roles).
You can list all Azure RBAC role assignments using the Azure Management API. You can also filter this request by scope and/or by which user, group or app the role assignment is for.
For example, to list all the scopes a group {group-id}
has been assigned to for a subscription {sub-id}
:
GET https://management.azure.com/subscriptions/{sub-id}/providers/Microsoft.Authorization/roleAssignments?api-version=2015-07-01&$filter=principalId%20eq%20'{group-id}'
For more details, you can read Manage Role-Based Access Control with the REST API.