I'm sure others will correct me as necessary, but as a general rule of thumb:
1. A DMR-capable scanner or SDR with DSD+ will allow you to listen to a non-encrypted DMR system, whether it be trunked or conventional
2. DSD+ and some of those scanners will trunk track a Motorola system. No option will properly trunk track an XPT system.
3. A scanner or DSD+ ignores RAS. But only DSD+ will tell you if RAS is being used.
4. Any DMR transceiver will allow you to passively listen to a DMR system, but (I think) only a MotoTRBO transceiver will trunk track a Motorola one, and only a Hytera transceiver will trunk track an XPT one.
5. No transceiver of any make will enable you to listen to a RAS enabled system, unless you have a MotoTRBO transceiver and the right RAS key.
6. You'll be out of luck completely if it's an encrypted system (A Motorola Basic Privacy system key could be guessed through bute force quite quickly, then the key added to a MotoTRBO transceiver, but it would still be illegal in most countries anyway).
7. DSD+ is still the easiest route in to tell you exactly what the system is and what it is using by way of configuration, privacy and integrity