How to Query/SOQL Field Dependency for an Object in Salesforce?

Sample Field Dependency:
 

SOQL:
SELECT Label, QualifiedApiName, DataType, ControllingFieldDefinition.DeveloperName
FROM FieldDefinition
WHERE EntityDefinition.QualifiedApiName = 'Employee__c' AND ControllingFieldDefinitionId != null
 
Output:
 

Labels: , ,