Welcome to the Auth0 Community, @gsinha!
We don’t have an equivalent endpoint to the /introspect endpoint from Okta. You would have two options: either use the token and see if it’s valid or inspect it using a library of your choice (you can grab one from JSON Web Token Libraries - jwt.io for example)
I recommend you to read https://auth0.com/docs/security/tokens/access-tokens/validate-access-tokens to learn more about this topic.
If you would like to see a similar endpoint or any other feature supported, I suggest you send your feedback explaining your use case and giving as many details as possible so we all can understand your requirements.
I hope this helps.