The only simple way I know about is checking the instance status of each individual server. Beyond that it's building apps to collect the info for you.
At the bottom of every page of a Lemmy instance you'll find the "Instances" link, which takes you to a list of who are connected and blocked.
You're basically describing how the fediverse works I think.
How is it different than the current situation where both lemmy.world and beehaw.org are connect to lemmy.ml?