The quick answer is that we should not have to know, or even care. It is like asking a question about CPU affinity on a multi-processor platform... how would we know which CPU is handling a task? 20 years ago, that was a relevant question for Unix and Microsoft platforms. Today, it is irrelevant.
I did an anecdotal test last year in a thread we were in, and I could easily see my devices move around. So, in my N of 1, I could clearly see that the Apple clients were working exactly as they should.
https://forums.macrumors.com/threads/wifi-2-4ghz-vs-5ghz-watch.1921282/page-3#post-21992425
But I also know that this behavior is true in other networks and through working with other networking professionals.