Yes! The Android workload does expose default dependency versions directly in its .props files. Here are the alternative ways to get Android SDK dependencies:
The workload ships default versions in:
/usr/local/share/dotnet/packs/Microsoft.Android.Sdk.Darwin/<version>/tools/Xamarin.Android.Common.props/usr/local/share/dotnet/packs/Microsoft.Android.Sdk.Darwin/<version>/tools/Xamarin.Installer.Common.props