Correct me if I'm wrong, but the only way to view the xpub of my Jade is with a QR. Is there a way to view the xpub somewhere and not in a software wallet?
I think you are right. If I remember the installation process properly, Jade only displays the QR code and not the xPUB itself. You can only switch between single and multisig and script types.
The thing is, that when I scan my xpub in, for example, Sparrow wallet, it will show me a fingerprint an xpub. But how do I know that what I see is correct?
Verify that each address you intend to deposit to is part of your Jade wallet. Load the QRseed into your Jade, scan the QR of the deposit address from your Sparrow wallet with Jade and the HW will tell you if the address is part of your wallet. If you scanned an address that isn't derived from your Jade seed or you imported a wrong xPUB, the Jade wouldn't be able to verify the receiving address you scanned from Sparrow.