OK, I found the answer to my question myself, but for anyone else who might also be confused, I will document it here:
You can get the position i.e. origin of a collision shape by using
shape_owner_get_transform()
on a CollisionObject2D --> (Area2D/KinematicBody2D...)
The "owner" is the index of the shape if there is only one then just use 0.
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Example:
Area2D_01.shape_owner_get_transform(0).origin
myKinBody2D_01.shape_owner_get_transform(0).origin
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Hope this helps