IMO the easiest way is to use PipelineNodeGraphVisitor from BlueOcean plugin to query all nodes of type FlowNodeWrapper.NodeType.PARALLEL. These are the branches.
import org.jenkinsci.plugins.workflow.support.steps.build.RunWrapper
import io.jenkins.blueocean.rest.impl.pipeline.PipelineNodeGraphVisitor
import io.jenkins.blueocean.rest.impl.pipeline.FlowNodeWrapper
@NonCPS
List getBranchResults( RunWrapper build ) {
    def visitor = new PipelineNodeGraphVisitor( build.rawBuild )
    def branches = visitor.pipelineNodes.findAll{ it.type == FlowNodeWrapper.NodeType.PARALLEL }
    
    return branches.collect{ branch -> [ 
        id: branch.id, 
        displayName: branch.displayName, 
        result: "${branch.status.result}",
    ]}
}
node {
    def build_jobs = [:]
    
    build_jobs['1'] = {
        stage ('A'){ echo 'Success' }
        stage ('B'){ echo 'Success' }
    }
            
    build_jobs['2'] = {
        stage ('A'){ echo 'Success' }
        stage ('B'){ error 'Error' }
    }
    
    build_jobs['3'] = {
        stage ('A'){ echo 'Success' }
        stage ('B'){ warnError( message: 'Unstable' ){ error 'Error' } }
    }
    
    try {
        parallel build_jobs    
    }
    finally {
        def results = getBranchResults( currentBuild )
        echo "Branch results:\n" + results.join('\n')
    }
}

Output of last 'echo' (open console log to see it):
Branch results:
[id:8, displayName:1, result:SUCCESS]
[id:9, displayName:2, result:FAILURE]
[id:10, displayName:3, result:UNSTABLE]
A similar answer to get stage results also lists an alternative to BlueOcean API.