Cheap endoscope cameras available from Banggood.com, choice of visible light, IR and UV (visible is best for peering into tanks).
After having tried many tank lining products I have settled on an Australian product Red White & Blue (redwhiteandblue.com.au). No need to remove all of a liner, the bits still adhering can be left in place, doesn't shrink and will fill a very large hole (I have put this to the test on an old stationery engine tank I thought I would have to weld). Also does not damage paint (within reason).
I will just throw in a tip I was taught that is for any new liner. When you have finished and done what you can to get excess liner out, roll the tank on its back to let the liner harden. Doing this means that any thick "gobs" are in the top of the tank, out of the way. I had to spend half a morning boring through epoxy so that fuel could get to the tap once, and as luck would have it the tank in question had a large rectangular protrusion into the tank. Many hours taken to carefully file the expoxy away once the initial hole was drilled. If it had been on its back that would not have happened