Tasks are available via the /runtime/tasks endpoint you can query active tasks by Process Instance ID using the processInstanceId query parameter. Example:
I tried this but my requirement is I need all Tasks of ProcessInstanceId.I believe the call you gave me will return only Active task, but I want all Tasks for that ProcessInstanceId.
Yes, calls to the runtime service will give you only active processes and tasks. You can get active and previously executed tasks using the history service: