One way is to use APDL commands to get these values. You will need to use the file.mcom (mode combination file) that is available ( Solution> right mouse click > Open solver files directory). This file may also be called displacement.mcom.
You also should save the database (file.db) using Analysis settings> Analysis data management > Save MAPDL db file= YES.
In Post1 you can use ETABLE command to get beam results. Starting in 2022R1 I think you can also get joint results with ETABLE.
Then you can use the below commands:
etable ..... ! use ETABLE for beams/joints
pretable ! print results
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