You can use rdaptastic to query domain RDAP data. This data includes:
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Depending on the TLD (top level domain) there may be limited RDAP data or none at all. You can check the current support of the RDAP protocol on https://deployment.rdap.org/
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You can use click-through queries to get more information about the nameservers, their ASNs and IP addresses, by clicking on a nameserver in the query result.