Try sqlcmd ... -F vertical.

Source: https://learn.microsoft.com/en-us/sql/tools/sqlcmd/sqlcmd-utility?view=sql-server-ver16&tabs=go%2Cwindows%2Cwindows-support&pivots=cs1-bash#enhancements

I can't comment on how far back that option goes, but it is working on the version that's currently available these days on MacOS via Homebrew:

brew info sqlcmd
==> sqlcmd: stable 1.8.2 (bottled)
Microsoft SQL Server command-line interface
https://github.com/microsoft/go-sqlcmd