In a complexer scene there can be easily hundreds of objects.
Is there some setting/filter so that i can see all objects with rigid bodies in the outliner?
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I guess this solution is not as easy as desired, but here's what you can do: Make sure all objects are deselected with Alt+A.
Now, usually Blender creates collection called RigidBodyWorld which is not shown as collection in the Outliner, but it exists. So in 3D Viewport press Shift+G > Select Grouped > Collection and from the collections choose "RigidBodyWorld".
Now all rigid bodies are selected. To see only them in Outliner, go to the Filter menu and switch from "All" to "Selected". Not exactly what you want maybe because everything else is hidden, but I hope it helps.