There are far more options than I know about, but a command you might be interested in under Linux when logged in to a graphical display is “glxinfo” (or to page it, “glxinfo | less”).
What you’ll find if you search for ‘NVIDIA’ are some of the versions related to GL. For example, glx is X11 way of using OpenGL, and on R28.1 I see:
server glx version string: 1.4
For OpenGL I see this:
OpenGL core profile version string: 4.5.0 NVIDIA 28.1.0
…so OpenGL version 4.5 is available.
OpenGL ES is usually used in smaller embedded systems, and you can see this:
OpenGL ES profile version string: OpenGL ES 3.2 NVIDIA 28.1.0
…so it supports OpenGL ES 3.2.
Many other tool kits are built on top of this, e.g., SDL bases on some native direct acceleration API depending on platform. If run on a Jetson I suppose it would run with OpenGL underneath it (I’ve never tried…perhaps it would run with OpenGL ES…not sure).