Each open source library has license terms which allow you to the use the code. Usually this can be found in the comments at the beginning of the code. Some have a separate license file.
I need to emphasize the official word is in those license terms. There is no single file or web page with an official summary.
Speaking informally, certainly not a substitute for checking the actual license terms for every library your program incorporates, most of them are
MIT or MIT-like. MIT license is generally understood to impose minimal restrictions with terms most people find acceptable for incorporating into proprietary commercial software. But again, these words are only an informal explanation. See the actual license for the actual terms.
Of the libraries you mentioned, in old versions (Teensyduino 1.53 and earlier) the SD library was GPL. It changed to MIT starting with version 1.54.