Can I get a surface color that includes realtime lighting?

Is there any way to get a color value for a point on a surface which includes both the texture and realtime lighting?

I can get the texture value easily enough with texture.getpixel, but that won’t include any lighting considerations.
The only lighting solutions I’ve found seem to involve reading the values from a lightmap; but I have no lightmaps as the lights are realtime.
so I’m a bit stumped but surely this must be possible?

Would you perhaps be able to save the image from the scene camera and correlate it with the depth buffer to find what you want? Or with camera view to world view?