I think its high time that PTC put some effort to come up with this " Develop a depth feature in the navigation to view the interior of the models," feature, which makes it easy for people to review the designs and show, share, and analyze the designs.
Pro/E had a module called fly through that was designed for the application you are noting. It was never widely used and got retired. The "replacement" for this is documented in this article. I have no idea if it is an improvement over Fly-Through or not.
Reorient Perspective tab allows you to enter Perspective and adjust the settings. Shift+MMB allows you to drag the model relative to the perspective point. Ctrl+MMB+moving mouse up and down allows you to move in and out of model.