I work in construction, specifically pipelines and tunnels and the quick answer is no, there is not one single source.
All the utilities et al have their own records and in a lot of cases haven’t a clue where it actually is apart from in the road/footpath somewhere!
There are a lot of tunnels under every city that date back to the cold war which were constructed as bunkers etc, the location of these will never be disclosed, particularly in London where there still exists emergency escape tunnels. We have hit some of them in the past whilst tunnelling in London and have simply been told to ‘back up’ and re-align. We built a supposedly ‘water’ tunnel under Chelsea Barracks in the 90’s, but it was left at two blind shafts in certain locations 😉
In London we having to go deeper and deeper to get under everything, we are just about to start a new sewer down the centre of the Thames which is going to be up to 100m deep.
LUL are slowly laser surveying all of the currently used underground, so I would say that is the most accurate available wrt where is exactly is in 3D.