I searched the forum with no luck:
Is there a way I can automatically have objects colored when not in their default position?
No, the best we’ve got is when you select one you can see any offset in Properties.
Ah, but this idea reminds me of Sibelius. There the coloring is useful because in Sib once you shift an object, it stays fixed at that position even if you change default positions. Dorico doesn’t work like that. An item offset in Engrave mode retains the same offset values from wherever the applicable settings and collision avoidance place it.