I believe the ModelSDK has a method for getting all the Project userroles with their module userroles.
See the docs at https://apidocs.rnd.mendix.com/modelsdk/latest/classes/security.userrole.html
I think for now you can only see this per role in security → user roles. Per module you can see what access rights a module role has got on pages, etc.
If you want a different overview, you can always post this idea to the idea forum (https://forum.mendix.com/link/ideas)