In the left hand menu of a case, there's a 'Family members' section that lists the case codes of all family members of the case you're viewing. These case codes act as shortcut to these cases.
To access the 'Family members' shortcut:
Go to the case Details screen of the case you're working on
Scroll, if needed, to find the relevant family member case code in the left-hand menu
Click on the case code
You'll be taken to the Details screen of that case
The count displayed next to ‘Family members’ indicates the number of cases within the family.