Option 1, lists or even manufacturer website spec sheets
There's sites that maintain lists, example: https://www.reddit.com/r/DataHoarder/comments/184vwtd/complete_list_of_smr_drives_as_of_112623/ or https://nascompares.com/answer/list-of-wd-cmr-and-smr-hard-drives-hdd/
Option 2, Use a SMART tool and look for TRIM support
There's more obvious tell-tale signs: SMR drives may support the SATA TRIM command:
It should be interpreted like so: If your spinning drive supports TRIM then it is a SMR drive, however absence of TRIM does not mean by definition it's not an SMR drive.
Option 3, Some tools can detect SMR drives without relying on databases or TRIM support
There's also less obvious drive parameters that can reveal a drive being SMR even in absence of TRIM support:
I suspect it may be examining the "general purpose log" or look for "Device Managed Zoned Capabilities" support.
sg3_utils
is a set of SCSI utilities, whether any of them would work depends on the implementation of SCSI-ATA Translation Layer (SATL) in use (in addition to the support of corresponding ATA commands on the drive). When the drive is attached to a SATA/AHCI controller (well at least an onboard one), the SATL leveraged is implemented in the OS / kernel. When it's behind a USB/UAS bridge, it is implemented in the firmware bridge.