You can indeed. Navigate to Org > VPN status.
If you click the 'Peers' heading on the table, til the ones with the most peers (the Hubs) are at the top, then click the green 'Description' for the particular Hub you're interested in, you'll see the 'VPN Status >' header near the top of the page changes to focus on that particular MX. All the peers listed in the table are all either connected to or trying to connect to said Hub.
You can get to the same place by navigating to the Network for each Hub (if you know their names), top left of the dashboard, then clicking Security & SD-WAN > VPN status