Start by connecting your Trezor device and visiting wallet.trezor.io. Click on the name of your device.
For Bitcoin, Bitcoin Cash, Dash, Dogecoin, Litecoin, and Zcash wallets
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Select the relevant account, and and navigate to the Basic tab
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Click on Show XPUBs
See here for more details on Trezor xPub.
For all other coins
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Select the relevant coin, and view wallet addresses underneath Transactions