OK I guess I found it, really easy and straightforward:
ps -e -o pid,comm | grep ssh-agent
Works just fine.
Answer found here: https://unix.stackexchange.com/questions/22892/how-do-use-awk-along-with-a-command-to-show-the-process-id-with-the-ps-command/22895#22895
And adapted with a | grep ssh-agent
Also suggested by Martin. Thank you all for sharing your experience!