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How can I go about seeing the different AP around me using the terminal?
You can use the command:
sudo iwlist wlan0 scan
This assumes that wlan0 is your wireless interface. To find out if it is or not type sudo iwconfig which will give you a list of your network interfaces and tell you which ones have wireless extensions enabled.
I know this is a six years old question and its already answered but i went in the same problem on a debian system and use this command:
nmcli dev wifi list
Required, but never shown