Is it possible to fetch the status of health

I've known that Envoy provided us the machanism of health checking. So Envoy itself knows the status of health of a cluster or an endpoint.

I want to know if a client could fetch the status of health of a cluster or an endpoint by sending some request to Envoy.

client ---> Envoy ---> cluster(endpoints)

I need this because in my case, I have a stateful server, which generate some IDs according to the status of health of the endpoints of a cluster. For example,

client(stateful server) ---> Envoy ---> cluster(endpoint1, endpoint2, endpoint3)

The client would generate different IDs according to the different status of health of the three endpoints.

I want to know if Envoy could help me on this issue.