Right-clicking on the Agent should give you the option to "View Details", then switiching between tabs (of the Publisher/Distributor) you should see the last error that was recorded there).
Since all these tabs are simply reporting based upon a SQL Agent Job on either your Publisher/Distributor server's, you can also go view the job history for each of the Agents throwing the error.
Or, you can also run
SELECT * FROM MSrepl_errors order ORDER BY time DESC
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