$ docker system info
...
Swarm: active
 NodeID: 6rv29rh4lg4bflx5tqq3sr99p
 Is Manager: true
 ClusterID: vsm0xtdcetezj9xbxs0iad04b
 Managers: 1
 Nodes: 1
 Orchestration:
  Task History Retention Limit: 5
 Raft:
  Snapshot Interval: 10000
  Number of Old Snapshots to Retain: 0
  Heartbeat Tick: 1
  Election Tick: 3
 Dispatcher:
  Heartbeat Period: 5 seconds
 CA Configuration:
  Expiry Duration: 3 months
 Root Rotation In Progress: false
 Node Address: 192.168.126.146
 Manager Addresses:
  192.168.126.146:2377
...

$ docker node inspect self
[
    {
        "ID": "6rv29rh4lg4bflx5tqq3sr99p",
        ...
        "Description": {
            ...
            "TLSInfo": {
                "TrustRoot": "-----BEGIN CERTIFICATE-----\nMIIBazCCARCgAwIBAgIUOzgqU4tA2q5Yv1HnkzhSIwGyIBswCgYIKoZIzj0EAwIw\nEzERMA8GA1UEAxMIc3dhcm0tY2EwHhcNMTcwNTAyMDAyNDAwWhcNMzcwNDI3MDAy\nNDAwWjATMREwDwYDVQQDEwhzd2FybS1jYTBZMBMGByqGSM49AgEGCCqGSM49AwEH\nA0IABMbiAmET+HZyve35ujrnL2kOLBEQhFDZ5MhxAuYs96n796sFlfxTxC1lM/2g\nAh8DI34pm3JmHgZxeBPKUURJHKWjQjBAMA4GA1UdDwEB/wQEAwIBBjAPBgNVHRMB\nAf8EBTADAQH/MB0GA1UdDgQWBBS3sjTJOcXdkls6WSY2rTx1KIJueTAKBggqhkjO\nPQQDAgNJADBGAiEAoeVWkaXgSUAucQmZ3Yhmx22N/cq1EPBgYHOBZmHt0NkCIQC3\nzONcJ/+WA21OXtb+vcijpUOXtNjyHfcox0N8wsLDqQ==\n-----END CERTIFICATE-----\n",
                "CertIssuerSubject": "MBMxETAPBgNVBAMTCHN3YXJtLWNh",
                "CertIssuerPublicKey": "MFkwEwYHKoZIzj0CAQYIKoZIzj0DAQcDQgAExuICYRP4dnK97fm6OucvaQ4sERCEUNnkyHEC5iz3qfv3qwWV/FPELWUz/aACHwMjfimbcmYeBnF4E8pRREkcpQ=="
            }
        },
     ...
    }
]

$ docker node inspect self --pretty
...
TLS Info:
 TrustRoot:
-----BEGIN CERTIFICATE-----
MIIBazCCARCgAwIBAgIUOzgqU4tA2q5Yv1HnkzhSIwGyIBswCgYIKoZIzj0EAwIw
EzERMA8GA1UEAxMIc3dhcm0tY2EwHhcNMTcwNTAyMDAyNDAwWhcNMzcwNDI3MDAy
NDAwWjATMREwDwYDVQQDEwhzd2FybS1jYTBZMBMGByqGSM49AgEGCCqGSM49AwEH
A0IABMbiAmET+HZyve35ujrnL2kOLBEQhFDZ5MhxAuYs96n796sFlfxTxC1lM/2g
Ah8DI34pm3JmHgZxeBPKUURJHKWjQjBAMA4GA1UdDwEB/wQEAwIBBjAPBgNVHRMB
Af8EBTADAQH/MB0GA1UdDgQWBBS3sjTJOcXdkls6WSY2rTx1KIJueTAKBggqhkjO
PQQDAgNJADBGAiEAoeVWkaXgSUAucQmZ3Yhmx22N/cq1EPBgYHOBZmHt0NkCIQC3
zONcJ/+WA21OXtb+vcijpUOXtNjyHfcox0N8wsLDqQ==
-----END CERTIFICATE-----

 Issuer Public Key:	MFkwEwYHKoZIzj0CAQYIKoZIzj0DAQcDQgAExuICYRP4dnK97fm6OucvaQ4sERCEUNnkyHEC5iz3qfv3qwWV/FPELWUz/aACHwMjfimbcmYeBnF4E8pRREkcpQ==
 Issuer Subject:	MBMxETAPBgNVBAMTCHN3YXJtLWNh

$ docker node ls
ID                            HOSTNAME            STATUS              AVAILABILITY        MANAGER STATUS
6rv29rh4lg4bflx5tqq3sr99p *   ubuntu              Ready               Active              Leader
umall6tifty5ttyx9sg6axi7b     moby  

$ docker node ls --format "table {{.ID}}\t{{.Hostname}}\t{{.TLSStatus}}"
ID                          HOSTNAME            TLS STATUS
6rv29rh4lg4bflx5tqq3sr99p   ubuntu              Ready
umall6tifty5ttyx9sg6axi7b   moby                Ready

$ docker node ls --format "{{json .}}"
{"Availability":"Active","Hostname":"ubuntu","ID":"6rv29rh4lg4bflx5tqq3sr99p","ManagerStatus":"Leader","Self":true,"Status":"Ready","TLSStatus":"Ready"}
{"Availability":"Active","Hostname":"moby","ID":"umall6tifty5ttyx9sg6axi7b","ManagerStatus":"","Self":false,"Status":"Ready","TLSStatus":"Ready"}