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I have an OpenSIPS proxy running with RTPProxy. The calls are working fine and the media is relayed to RTPProxy. Is there a way to figure out what are the allocations used by the server? Can I query RTPProxy for all available sessions and see the allocated ports?

What I tried so far is to intercept the communication between RTPProxy and OpenSIPS, and I have information about the allocations, but not about the UAC/UAS port numbers.

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Yes you can.

There's a UDP based interface that transfers Bencoded data, it's how OpenSIPs and Kamailio interface with RTPproxy - It's called the ng protocol.

The full documentation is in the Readme on GitHub,

I wrote an example Python client for rtpengine's ng protocol a while back. It just lists the current calls so probably quite a good place to start if you're a Python fan.