Yes, you can use openssl to create a test server for your certificate using the s_server command. This creates a minimal SSL / TLS server that responds to HTTP requests on port 8080:
openssl s_server -accept 8080 -www -cert yourcert.pem -key yourcert.key -CAfile chain.pem
yourcert.pem is an X.509 certificate, yourcert.key is your private key, and chain.pem contains a chain of trust between your certificate and the root certificate. Your CA should have provided you with its ccp.pem and chain.pem files.
Then use openssl s_client to connect:
openssl s_client -connect localhost:8080 -showcerts -CAfile rootca.pem
or on Linux:
openssl s_client -connect localhost:8080 -showcerts -CApath /etc/ssl/certs
Caution: this command does not check if the host name matches the CN (common name) or SAN (subjectAltName) of your certificate. OpenSSL does not yet have a routine for the task. It will be added in OpenSSL 1.1.
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