"To retrieve the list of principals, use the Get cmdlet for ADComputer, ADServiceAccount, and ADUser with the PrincipalsAllowedToDelegateToAccount parameter."
Only the New/Set cmdlets for ADComputer, ADServiceAccount, and ADUser have the PrincipalsAllowedToDelegateToAccount parameter.
To retrieve the list of principals you need to ask for the msDS-AllowedToActOnBehalfOfOtherIdentity property. For example:
Get-ADComputer -Filter {Name -Like Server01} -Properties msDS-AllowedToActOnBehalfOfOthe
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