I don't think we can determine rotational tilt of distant planets.
The axial tilt of the Earth has been known for a surprisingly long time. The first reasonably accurate measurements were made in China and India. The first (that we know of) was made in 1100 B.C. (over 3000 years ago!) by Chou Li. The next set of measurements came from greek geographers about 750 years later...
....The paths of the planets was carefully observed by Tycho Brahe in the late 1500s. Following Brahe's death in 1601, Johannes Kepler used the data to develop a set of laws that govern the way the planets move around the Sun (he proposed them in 1609).
These laws, (creatively) called Kepler's Laws, still hold today. Combining Brahe's observations and Kepler's laws of planetary motion, we can infer the axial tilt. Brahe's calculations are probably the first modern, western measurements of the tilt of Earth's axis...
Source:
Who (and when) discovered that the earth's axis is on a 23 degree tilt? (Intermediate)