This excellent post by sgros gives a very thorough overview of the RTO algorithms in the kernel and how RTO is actually calculated:
There sure is:
ss -iThe -i option of ss is the flag to "Show internal TCP information", check man ss for more options.
Here's an example of a socket on my system including its RTO:
State Recv-Q Send-Q Local Address:Port Peer Address:Port ESTAB 0 0 10.99.0.123:51308 192.168.34.111:http cubic wscale:6,7 rto:660 rtt:396/38.75 ato:40 cwnd:10 send 272.3Kbps rcv_space:14600 ^^RTO^^ss is one of the "next generation" iproute2 commands to replace the older netstat. Much like ip addr has replaced ifconfig, ip route has replaced route, and ip neigh has replaced arp.