GetAllServicePrincipalsWhoAreMemberOfAnyRoleInAzureAD.ps1

Connect-AzureAD
$roles = Get-AzureADDirectoryRole
foreach ($role in $roles)
{
    $members = Get-AzureADDirectoryRoleMember -ObjectId $role.ObjectId
    Write-Host "--- Service Principals members of " $role.DisplayName " ---"
    foreach ($member in $members)
    {
        if($member.ObjectType -eq "ServicePrincipal")
        {
            Write-Host $member.ObjectId " / " $member.AppDisplayName " / " $member.ServicePrincipalType
        }
    }
    Write "---------------------------------------------------------"
}