No, there is no way to tell what servers you are whitelisted on.

The only servers you are whitelisted on, are probably only servers you already know. You can however join any public server even without a whitelist, as long as you are not blacklisted.

Except there is a way to globally search for servers you are whitelisted on. But that knowledge is known for being misused. Because it means you can join any server to grief them.