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cfnrain tree <template> shows which parameters, resources and outputs depend on each other. graph is an alias.

cfnrain tree bucket.yaml
Resources:
  Bucket:
    DependsOn:
      Parameters:
        - AWS::StackName
Outputs:
  Name:
    DependsOn:
      Resources:
        - Bucket

-b (--both) also shows what depends on each item. -a (--all) shows items with no dependencies. -d (--dot) writes the graph in GraphViz DOT format:

cfnrain tree -d bucket.yaml | dot -Tsvg > bucket.svg