diff --git a/DESCRIPTION b/DESCRIPTION
index cc6394eb99..b49bc6c9b0 100644
--- a/DESCRIPTION
+++ b/DESCRIPTION
@@ -177,6 +177,7 @@ Collate:
     'guide-bins.R'
     'guide-colorbar.r'
     'guide-colorsteps.R'
+    'guide-data.r'
     'guide-legend.r'
     'guides-.r'
     'guides-axis.r'
diff --git a/NAMESPACE b/NAMESPACE
index af6f39040c..159152e7f4 100644
--- a/NAMESPACE
+++ b/NAMESPACE
@@ -431,6 +431,7 @@ export(guide_colorbar)
 export(guide_colorsteps)
 export(guide_colourbar)
 export(guide_coloursteps)
+export(guide_data)
 export(guide_gengrob)
 export(guide_geom)
 export(guide_legend)
diff --git a/NEWS.md b/NEWS.md
index 76bf5100a3..b692366709 100644
--- a/NEWS.md
+++ b/NEWS.md
@@ -1,5 +1,7 @@
 # ggplot2 (development version)
 
+* New `guide_data()` function to programmatically access information about the
+  guides, such as axes and legends, for a final plot (@teunbrand, #5004).
 * Fixed a regression in `geom_hex()` where aesthetics were replicated across 
   bins (@thomasp85, #5037 and #5044)
 * Fixed spurious warning when `weight` aesthetic was used in `stat_smooth()` 
diff --git a/R/coord-sf.R b/R/coord-sf.R
index a2c2a49121..8f2aa82ed1 100644
--- a/R/coord-sf.R
+++ b/R/coord-sf.R
@@ -320,34 +320,12 @@ CoordSf <- ggproto("CoordSf", CoordCartesian,
     graticule <- panel_params$graticule
 
     # top axis
-    id1 <- id2 <- integer(0)
-    # labels based on panel side
-    id1 <- c(id1, which(graticule$type == panel_params$label_axes$top & graticule$y_start > 0.999))
-    id2 <- c(id2, which(graticule$type == panel_params$label_axes$top & graticule$y_end > 0.999))
-
-    # labels based on graticule direction
-    if ("S" %in% panel_params$label_graticule) {
-      id1 <- c(id1, which(graticule$type == "E" & graticule$y_start > 0.999))
-    }
-    if ("N" %in% panel_params$label_graticule) {
-      id2 <- c(id2, which(graticule$type == "E" & graticule$y_end > 0.999))
-    }
-    if ("W" %in% panel_params$label_graticule) {
-      id1 <- c(id1, which(graticule$type == "N" & graticule$y_start > 0.999))
-    }
-    if ("E" %in% panel_params$label_graticule) {
-      id2 <- c(id2, which(graticule$type == "N" & graticule$y_end > 0.999))
-    }
-
-    ticks1 <- graticule[unique0(id1), ]
-    ticks2 <- graticule[unique0(id2), ]
-    tick_positions <- c(ticks1$x_start, ticks2$x_end)
-    tick_labels <- c(ticks1$degree_label, ticks2$degree_label)
+    key <- graticule_to_ticks(graticule, panel_params, "top")
 
-    if (length(tick_positions) > 0) {
+    if (!is.null(key)) {
       top <- draw_axis(
-        tick_positions,
-        tick_labels,
+        key$x,
+        key$.label,
         axis_position = "top",
         theme = theme
       )
@@ -356,34 +334,12 @@ CoordSf <- ggproto("CoordSf", CoordCartesian,
     }
 
     # bottom axis
-    id1 <- id2 <- integer(0)
-    # labels based on panel side
-    id1 <- c(id1, which(graticule$type == panel_params$label_axes$bottom & graticule$y_start < 0.001))
-    id2 <- c(id2, which(graticule$type == panel_params$label_axes$bottom & graticule$y_end < 0.001))
-
-    # labels based on graticule direction
-    if ("S" %in% panel_params$label_graticule) {
-      id1 <- c(id1, which(graticule$type == "E" & graticule$y_start < 0.001))
-    }
-    if ("N" %in% panel_params$label_graticule) {
-      id2 <- c(id2, which(graticule$type == "E" & graticule$y_end < 0.001))
-    }
-    if ("W" %in% panel_params$label_graticule) {
-      id1 <- c(id1, which(graticule$type == "N" & graticule$y_start < 0.001))
-    }
-    if ("E" %in% panel_params$label_graticule) {
-      id2 <- c(id2, which(graticule$type == "N" & graticule$y_end < 0.001))
-    }
-
-    ticks1 <- graticule[unique0(id1), ]
-    ticks2 <- graticule[unique0(id2), ]
-    tick_positions <- c(ticks1$x_start, ticks2$x_end)
-    tick_labels <- c(ticks1$degree_label, ticks2$degree_label)
+    key <- graticule_to_ticks(graticule, panel_params, "bottom")
 
-    if (length(tick_positions) > 0) {
+    if (!is.null(key)) {
       bottom <- draw_axis(
-        tick_positions,
-        tick_labels,
+        key$x,
+        key$.label,
         axis_position = "bottom",
         theme = theme
       )
@@ -397,35 +353,12 @@ CoordSf <- ggproto("CoordSf", CoordCartesian,
   render_axis_v = function(self, panel_params, theme) {
     graticule <- panel_params$graticule
 
-    # right axis
-    id1 <- id2 <- integer(0)
-    # labels based on panel side
-    id1 <- c(id1, which(graticule$type == panel_params$label_axes$right & graticule$x_end > 0.999))
-    id2 <- c(id2, which(graticule$type == panel_params$label_axes$right & graticule$x_start > 0.999))
+    key <- graticule_to_ticks(graticule, panel_params, "right")
 
-    # labels based on graticule direction
-    if ("N" %in% panel_params$label_graticule) {
-      id1 <- c(id1, which(graticule$type == "E" & graticule$x_end > 0.999))
-    }
-    if ("S" %in% panel_params$label_graticule) {
-      id2 <- c(id2, which(graticule$type == "E" & graticule$x_start > 0.999))
-    }
-    if ("E" %in% panel_params$label_graticule) {
-      id1 <- c(id1, which(graticule$type == "N" & graticule$x_end > 0.999))
-    }
-    if ("W" %in% panel_params$label_graticule) {
-      id2 <- c(id2, which(graticule$type == "N" & graticule$x_start > 0.999))
-    }
-
-    ticks1 <- graticule[unique0(id1), ]
-    ticks2 <- graticule[unique0(id2), ]
-    tick_positions <- c(ticks1$y_end, ticks2$y_start)
-    tick_labels <- c(ticks1$degree_label, ticks2$degree_label)
-
-    if (length(tick_positions) > 0) {
+    if (!is.null(key)) {
       right <- draw_axis(
-        tick_positions,
-        tick_labels,
+        key$y,
+        key$.label,
         axis_position = "right",
         theme = theme
       )
@@ -433,35 +366,12 @@ CoordSf <- ggproto("CoordSf", CoordCartesian,
       right <- zeroGrob()
     }
 
-    # left axis
-    id1 <- id2 <- integer(0)
-    # labels based on panel side
-    id1 <- c(id1, which(graticule$type == panel_params$label_axes$left & graticule$x_end < 0.001))
-    id2 <- c(id2, which(graticule$type == panel_params$label_axes$left & graticule$x_start < 0.001))
+    key <- graticule_to_ticks(graticule, panel_params, "left")
 
-    # labels based on graticule direction
-    if ("N" %in% panel_params$label_graticule) {
-      id1 <- c(id1, which(graticule$type == "E" & graticule$x_end < 0.001))
-    }
-    if ("S" %in% panel_params$label_graticule) {
-      id2 <- c(id2, which(graticule$type == "E" & graticule$x_start < 0.001))
-    }
-    if ("E" %in% panel_params$label_graticule) {
-      id1 <- c(id1, which(graticule$type == "N" & graticule$x_end < 0.001))
-    }
-    if ("W" %in% panel_params$label_graticule) {
-      id2 <- c(id2, which(graticule$type == "N" & graticule$x_start < 0.001))
-    }
-
-    ticks1 <- graticule[unique0(id1), ]
-    ticks2 <- graticule[unique0(id2), ]
-    tick_positions <- c(ticks1$y_end, ticks2$y_start)
-    tick_labels <- c(ticks1$degree_label, ticks2$degree_label)
-
-    if (length(tick_positions) > 0) {
+    if (!is.null(key)) {
       left <- draw_axis(
-        tick_positions,
-        tick_labels,
+        key$y,
+        key$.label,
         axis_position = "left",
         theme = theme
       )
@@ -716,3 +626,70 @@ parse_axes_labeling <- function(x) {
   labs = unlist(strsplit(x, ""))
   list(top = labs[1], right = labs[2], bottom = labs[3], left = labs[4])
 }
+
+# In essence what guide_train + guide_transform does for sf graticules
+graticule_to_ticks <- function(graticule, panel, position) {
+
+  position  <- arg_match0(position, c("top", "bottom", "left", "right"))
+  aesthetic <- if (position %in% c("top", "bottom")) "x" else "y"
+
+  pos_check <- graticule$type == panel$label_axes[[position]]
+  thres <- if (position %in% c("bottom", "left")) 0.001 else 0.999
+  switch(
+    position,
+    "top" = {
+      start_check <- graticule$y_start > thres
+      end_check   <- graticule$y_end   > thres
+    },
+    "bottom" = {
+      start_check <- graticule$y_start < thres
+      end_check   <- graticule$y_end   < thres
+    },
+    # vertical ticks have flipped start/end logic here
+    "right" = {
+      start_check <- graticule$x_end   > thres
+      end_check   <- graticule$x_start > thres
+    },
+    "left" = {
+      start_check <- graticule$x_end   < thres
+      end_check   <- graticule$x_start < thres
+    }
+  )
+
+  id1 <- id2 <- integer(0)
+  id1 <- c(id1, which(pos_check & start_check))
+  id2 <- c(id2, which(pos_check & end_check))
+
+  if ("N" %in% panel$label_graticule) {
+    id1 <- c(id1, which(graticule$type == "E" & start_check))
+  }
+  if ("S" %in% panel$label_graticule) {
+    id2 <- c(id2, which(graticule$type == "E" & end_check))
+  }
+  if ("E" %in% panel$label_graticule) {
+    id1 <- c(id1, which(graticule$type == "N" & start_check))
+  }
+  if ("W" %in% panel$label_graticule) {
+    id2 <- c(id2, which(graticule$type == "N" & end_check))
+  }
+
+  ticks1 <- graticule[unique0(id1), ]
+  ticks2 <- graticule[unique0(id2), ]
+
+  if (position %in% c("top", "bottom")) {
+    tick_positions <- c(ticks1$x_start, ticks2$x_end)
+  } else {
+    tick_positions <- c(ticks1$y_end, ticks2$y_start)
+  }
+  if (length(tick_positions) == 0) {
+    return(NULL)
+  }
+
+  key <- data_frame(tick_positions, .name_repair = ~ aesthetic)
+  key$.value <- c(ticks1$degree, ticks2$degree)
+  key$.label <- c(ticks1$degree_label, ticks2$degree_label)
+  key[[setdiff(c("x", "y"), aesthetic)]] <- switch(
+    position, "top" = 1, "bottom" = 0, "left" = 0, "right" = 1
+  )
+  key
+}
diff --git a/R/guide-data.r b/R/guide-data.r
new file mode 100644
index 0000000000..bc670baaf2
--- /dev/null
+++ b/R/guide-data.r
@@ -0,0 +1,192 @@
+#' Extract tick information from guides
+#'
+#' `guide_data()` builds a plot and extracts information from guide keys. This
+#'   information typically contains positions, values and/or labels, depending
+#'   on which aesthetic is queried or guide is used.
+#'
+#' @param plot A `ggplot` object, or `ggplot_build` object.
+#' @param aesthetic A scalar character that describes an aesthetic for which
+#'   to extract guide information. For example `"colour"`, `"size"`, `"x"` or
+#'   `"y.sec"`.
+#' @param i,j An integer giving a row (i) or column (j) number of a facet for
+#'   which to return position guide information.
+#'
+#' @details When used with plots containing `coord_sf()`, an aesthetic of `"x"`
+#'   is used for the bottom axis, `"x.sec"` for the top axis, `"y"` for the
+#'   left axis and `"y.sec"` for the right axis. This is also the default for
+#'   other coords, but this can be changed for other coords with the `guides()`
+#'   function.
+#'
+#' @return A `data.frame` containing information extracted from the guide key,
+#'   or `NULL` when no such information could be found.
+#' @export
+#'
+#' @examples
+#' # A typical plot
+#' p <- ggplot(mtcars) +
+#'   aes(mpg, disp, colour = drat, size = drat) +
+#'   geom_point() +
+#'   facet_wrap(vars(cyl), scales = "free_x")
+#'
+#' # Getting guide data for position aesthetic in particular panel
+#' guide_data(p, "x", i = 1, j = 2)
+#'
+#' # Getting guide data for a legend
+#' guide_data(p, "size")
+#'
+#' # If guides are merged, `guide_data()` reports merged guide data
+#' guide_data(p + guides(colour = "legend"), "size")
+guide_data <- function(
+  plot = last_plot(), aesthetic, i = 1L, j = 1L
+) {
+  # For now, only handles single aesthetics
+  if (!is_scalar_character(aesthetic)) {
+    cli::cli_abort(paste0(
+      "{.arg aesthetic} must be a {.cls character} of length 1."
+    ))
+  }
+
+  # Pre-build plot
+  if (!inherits(plot, "ggplot_built")) {
+    plot <- ggplot_build(plot)
+  }
+
+  # Decide whether to get position or regular guide information
+  if (aesthetic %in% c("x", "y", "x.sec", "y.sec", "theta", "r")) {
+    ans <- guide_data_position(plot, aesthetic, i = i, j = j)
+  } else {
+    # Regular guides don't carry any panel-wise information, so i/j are dropped
+    ans <- guide_data_legend(plot, aesthetic)
+  }
+  ans
+}
+
+guide_data_position <- function(plot, aesthetic, i = 1L, j = 1L) {
+
+  # We might expect guides to be unnamed, but matchable by position
+  k <- match(aesthetic, c("x", "y", "x.sec", "y.sec",
+                          "theta", "theta.sec", "r", "r.sec"))
+
+  # Select relevant panel
+  layout   <- plot$layout$layout
+  selected <- layout[layout$ROW == i & layout$COL == j, , drop = FALSE]
+  if (nrow(selected) < 1) {
+    cli::cli_warn(c(paste0(
+      "Selection with {.arg i = {i[1]}} and {.arg j = {j[1]}} yielded no ",
+      "suitable panels."
+    ), "!" = "{.code NULL} was returned."))
+    return(NULL)
+  }
+
+  # Execute `plot$layout$setup_panel_guides()` for relevant panels only
+  panels <- lapply(
+    plot$layout$panel_params[selected$PANEL],
+    plot$layout$coord$setup_panel_guides,
+    plot$plot$guides,
+    plot$layout$coord_params
+  )
+  panels <- lapply(
+    panels,
+    plot$layout$coord$train_panel_guides,
+    plot$plot$layers,
+    plot$plot$mapping,
+    plot$layout$coord_params
+  )
+
+  # For coord_polar(), translate x/y to theta/r
+  if (!is.null(plot$layout$coord$theta)) {
+    if (plot$layout$coord$theta == "y") {
+      aesthetic <- switch(
+        aesthetic,
+        "x" = "r", "x.sec" = "r.sec",
+        "y" = "theta", "y.sec" = "theta.sec",
+        aesthetic
+      )
+    } else {
+      aesthetic <- switch(
+        aesthetic,
+        "x" = "theta", "x.sec" = "theta.sec",
+        "y" = "r", "y.sec" = "r.sec",
+        aesthetic
+      )
+    }
+  }
+
+  # Loop through panel, extract guide information
+  lapply(panels, function(panel) {
+    if (!is_empty(panel$guides)) {
+      # We have coords with proper guides
+      if (is.null(names(panel$guides))) {
+        panel$guides[[k]]$key
+      } else {
+        panel$guides[[aesthetic]]$key
+      }
+    } else if (!is_empty(panel$graticule)) {
+      # We have CoordSf which has graticules
+      position <- switch(
+        aesthetic,
+        "x" = "bottom", "x.sec" = "top",
+        "y" = "left",   "y.sec" = "right",
+        cli::cli_abort(paste0(
+          "Cannot extract guide data from graticule for ",
+          "{.arg aesthetic = '{aesthetic}'}."
+        ))
+      )
+      graticule_to_ticks(panel$graticule, panel, position)
+    } else {
+      # We have coords without proper guides
+      cols <- paste0(aesthetic, c(".major", ".labels"))
+      out <- data_frame0(major  = panel[[cols[1]]], labels = panel[[cols[2]]])
+      colnames(out) <- cols
+      out
+    }
+  })
+}
+
+guide_data_legend <- function(plot, aesthetic, ...) {
+
+  # Prepare theme information
+  theme <- plot_theme(plot$plot)
+  position <- theme$legend.position %||% "right"
+  if (position == "none") {
+    return(NULL)
+  }
+
+  # Pick all scales, since guides can be merged
+  scales <- plot$plot$scales$non_position_scales()
+  if (!scales$has_scale(aesthetic)) {
+    cli::cli_warn(c(paste0(
+      "No scale for {.arg aesthetic = '{aesthetic}'} was found."
+    ), "!" = "{.code NULL} was returned."))
+    return(NULL)
+  }
+
+  # Mimic `build_guides`
+  theme$legend.direction <- switch(
+    legend_position(position),
+    "inside"     = "vertical",
+    "vertical"   = "vertical",
+    "horizontal" = "horizontal"
+  )
+
+  # Train guides to build keys from scales
+  guides <- guides_train(
+    scales = scales,
+    theme  = theme,
+    guides = plot$plot$guides,
+    labels = plot$plot$mapping
+  )
+  if (length(guides) == 0) {
+    return(NULL)
+  }
+
+  # Merge guides
+  guides   <- guides_merge(guides)
+
+  # Extract keys
+  guides   <- lapply(guides, `[[`, "key")
+  my_guide <- vapply(guides, function(x) aesthetic %in% colnames(x), logical(1))
+  unname(guides)[my_guide]
+}
+
+
diff --git a/man/guide_data.Rd b/man/guide_data.Rd
new file mode 100644
index 0000000000..c6a35fa338
--- /dev/null
+++ b/man/guide_data.Rd
@@ -0,0 +1,50 @@
+% Generated by roxygen2: do not edit by hand
+% Please edit documentation in R/guide-data.r
+\name{guide_data}
+\alias{guide_data}
+\title{Extract tick information from guides}
+\usage{
+guide_data(plot = last_plot(), aesthetic, i = 1L, j = 1L)
+}
+\arguments{
+\item{plot}{A \code{ggplot} object, or \code{ggplot_build} object.}
+
+\item{aesthetic}{A scalar character that describes an aesthetic for which
+to extract guide information. For example \code{"colour"}, \code{"size"}, \code{"x"} or
+\code{"y.sec"}.}
+
+\item{i, j}{An integer giving a row (i) or column (j) number of a facet for
+which to return position guide information.}
+}
+\value{
+A \code{data.frame} containing information extracted from the guide key,
+or \code{NULL} when no such information could be found.
+}
+\description{
+\code{guide_data()} builds a plot and extracts information from guide keys. This
+information typically contains positions, values and/or labels, depending
+on which aesthetic is queried or guide is used.
+}
+\details{
+When used with plots containing \code{coord_sf()}, an aesthetic of \code{"x"}
+is used for the bottom axis, \code{"x.sec"} for the top axis, \code{"y"} for the
+left axis and \code{"y.sec"} for the right axis. This is also the default for
+other coords, but this can be changed for other coords with the \code{guides()}
+function.
+}
+\examples{
+# A typical plot
+p <- ggplot(mtcars) +
+  aes(mpg, disp, colour = drat, size = drat) +
+  geom_point() +
+  facet_wrap(vars(cyl), scales = "free_x")
+
+# Getting guide data for position aesthetic in particular panel
+guide_data(p, "x", i = 1, j = 2)
+
+# Getting guide data for a legend
+guide_data(p, "size")
+
+# If guides are merged, `guide_data()` reports merged guide data
+guide_data(p + guides(colour = "legend"), "size")
+}
diff --git a/tests/testthat/test-guides.R b/tests/testthat/test-guides.R
index 8203c0c3b2..67d8fc839a 100644
--- a/tests/testthat/test-guides.R
+++ b/tests/testthat/test-guides.R
@@ -240,6 +240,99 @@ test_that("colorsteps and bins checks the breaks format", {
   expect_snapshot_error(suppressWarnings(ggplotGrob(p)))
 })
 
+test_that("guide_data retrieves appropriate data", {
+
+  p <- ggplot(mtcars) +
+    aes(mpg, disp, colour = drat, size = drat, fill = wt) +
+    geom_point(shape = 21) +
+    facet_wrap(vars(cyl), scales = "free_x") +
+    guides(colour = guide_legend())
+  b <- ggplot_build(p)
+
+  # Can we retrieve facetted panel labels?
+  test <- guide_data(b, "x", i = 1, j = 2)
+  expect_equal(test[[1]]$.label, c("18", "19", "20", "21"))
+
+  # Can we retrieve legend guide keys?
+  test <- guide_data(b, "fill")
+  expect_equal(test[[1]]$.label, c("2", "3", "4", "5"))
+
+  # Do we get merged keys when appropriate?
+  test <- guide_data(b, "colour")
+  expect_true(all(c("colour", "size") %in% colnames(test[[1]])))
+
+  # Does it warns for aesthetics that aren't mapped?
+  expect_warning(
+    test <- guide_data(b, "shape"),
+    "No scale"
+  )
+  expect_null(test)
+
+  # Does it warn for unsuitable panels?
+  expect_warning(
+    test <- guide_data(b, "x", i = 2, j = 2),
+    "no suitable panels"
+  )
+  expect_null(test)
+
+  # When `position = "none"` should return NULL
+  b$plot$theme$legend.position <- "none"
+  test <- guide_data(b, "fill")
+  expect_null(test)
+
+  # Should abort when making a typo
+  expect_error(
+    guide_data(b, 1),
+    "must be"
+  )
+})
+
+test_that("guide_data can retrieve axis information for different coords", {
+
+  p <- ggplot(mtcars, aes(mpg, disp)) + geom_point()
+
+  b <- ggplot_build(p + coord_polar())
+
+  # Should get theta labels for x
+  test <- guide_data(b, "x")
+  expect_equal(colnames(test[[1]]), c("theta.major", "theta.labels"))
+
+  # Should get r labels for x when theta = "y"
+  b$layout$coord$theta <- "y"
+  test <- guide_data(b, "x")
+  expect_equal(colnames(test[[1]]), c("r.major", "r.labels"))
+
+  # Should be able to get r/theta labels directly
+  test <- guide_data(b, "theta")
+  expect_equal(colnames(test[[1]]), c("theta.major", "theta.labels"))
+  test <- guide_data(b, "r")
+  expect_equal(colnames(test[[1]]), c("r.major", "r.labels"))
+
+  # Should work with coord_flip
+  test <- guide_data(p + coord_flip(), "x")
+  expect_equal(test[[1]]$.label, c("100", "200", "300", "400"))
+
+  skip_if_not_installed("sf")
+  nc <- sf::st_read(system.file("shape/nc.shp", package = "sf"), quiet = TRUE)
+  p <- ggplot(nc) +
+    geom_sf() +
+    coord_sf(label_axes = c("ENEN"))
+  b <- ggplot_build(p)
+
+  # Should extract graticule information
+  test <- guide_data(b, "x.sec")
+  expect_equal(test[[1]]$.value, seq(-84, -76, by = 2))
+
+  test <- guide_data(b, "y.sec")
+  expect_equal(test[[1]]$.value, seq(34, 36.5, by = 0.5))
+
+  # Should error when aesthetic is inappropriate
+  expect_error(
+    guide_data(b, "theta"),
+    "Cannot extract"
+  )
+})
+
 # Visual tests ------------------------------------------------------------
 
 test_that("axis guides are drawn correctly", {