Main toolbar > Curve Editor (Open) > Select animated tracks > Curves are displayed in Key Window.
Graph Editor > Track View — Curve Editor > Select animated tracks > Curves are displayed in Key Window.
Right-click any animated object > Curve Editor > Curves are displayed in Key Window
Keyboard > F5
Function Curves displays selected controller items as curves, charting the controller's change of value over time.
Selecting a controller item icon, or selecting a curve in the key window, displays keys for that item as vertices on the function curve. You can then select and change the key values.
You can view and add keys to function curves for tracks that are not yet animated. The curves appear as straight lines. As soon as you add a key to a function curve, a controller is created for that track.
Not all controller types display function curves. In rotation controllers, for example, a TCB rotation controller will not display a function curve, while an Euler XYZ rotation controller will display individual curves for X, Y and Z. Some controller display individual tracks for each axis, other controllers combine the 3 axis values into a single curve.
The Track View toolbar changes depending on whether you are in the Function Curve Editor or the Dope Sheet Editor. See Curve Editor Toolbar and Dope Sheet Toolbar.

Custom tangents
You can use Bezier handles to change the shape of the trajectory through a key. To display handles on a key, right-click a key in the Track View Key Window and choose the Custom Tangents option. You can assign the Custom Tangent type only to items using a Bezier controller. This will display tangent handles on the keys that you can manipulate horizontally and vertically.

To display function curves:
Select any animated object in the viewport.
Right-click and choose Curve Editor.
The function curves are displayed in the Key window of the Function Curve Editor.
To display additional Curves at the same time, on the Track View menu choose Settings > Manual Navigation.
Hold down the CTRL key and navigate the controller window until you see the additional tracks, then select them.
The curves for both objects are displayed together in the Key window.
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