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As you already pointed out there is has_parameter on the Synchronous Client. It could be added to the Async Client as well, but we just haven't done that yet. Also it could be added to the local node parameter API (you don't need a parameter client to get and set parameters on the local node), but in all cases the implementation is basically "list parameters and ensure the one you're asking about is there", see:

https://github.com/ros2/rclcpp/blob/66a7c625319879cafb7a895385057e2d85d78c45/rclcpp/src/rclcpp/parameter_client.cpp#L364-L371