Is there a way to fetch the responsibility information of a contact in AR?

Summary:

I'm trying to fetch the responsibility information of a contact associated with a Customer Account or Customer Account Site in AR . I would like to know if this information can be retrieved using SOAP or REST APIs, or a combination of both.

Content (please ensure you mask any confidential information):

Version (include the version you are using, if applicable):

Code Snippet (add any code snippets that support your topic, if applicable):