Hi Luis
There is no such report or table that will give you this complete view
The suggestions from others makes the assumption that you accurately maintain your SU24 data so you can join it. It is a good start but won't be an exact representation for transaction to authorisation object
Using USOBT_C and USOBX_C will help understand why the authorisations are in PFCG but they won't necessarily means the transactions needs all that access
Alos, if you have objects other than transactions in your role menu (e.g. services/RFCs/webdynpros), you will need to extract other tables to link to the objects as S_TCODE is not the only entry point.
Regards
Colleen