A borescope includes a housing extending from a first end toward a second end, the housing including a first transparent viewing section extending circumferentially around a longitudinal axis of the housing and defining an exterior of a portion of the housing; a first imaging assembly configured to rotate about the longitudinal axis of the housing, and also pivot relative to the longitudinal axis of the housing; and a second imaging assembly disposed within the housing, the second imaging assembly being configured to rotate about the longitudinal axis of the housing, wherein the second imaging assembly is configured to visualize a field of view exterior of the housing through the first transparent viewing section.