Yes, there's only one engine ID. For SNMP V3 the command would be something like
snmpwalk -v 3 -l authPriv -u <snmpv3user> -a SHA -A <authpassphrase> -x AES -X <privatepassphrase> <PAM address> 1.3.6.1.6.3.10.2.1.1.0
I mentioned before that the engine ID is fixed, but it does change when the SNMP poll server is restarted, e.g. from the Configuration > SNMP > Poll Server page, or when the PAM server reboots.