LearnDash Wpforo plugin provides you with a widget to see the forum list associated with a single course.
Navigate to Dashboard > Appearance> widgets.
Here you can see the widget “Course wpforo Forum”, Add this widget to single course sidebar to display all the associated forums.
If you do not have a Course Sidebar in your theme, You can assign the widget to any sidebar, even the Right sidebar.
You just have to make sure that this sidebar is attached to the single course page.