Robotic systems for surface inspection with simultaneous measurements at multiple orientations are described. An example inspection system may include a robot for traversing an inspection surface, the robot having an inspection payload to support an inspection element with two phased array UT elements, the first phased array at a first surface orientation and the second phased array at a second surface orientation, both orientations relative to the inspection surface. Each of the inspection elements includes a couplant connection structured to receive couplant from the robot. The inspection further includes a tether fluidly coupling a couplant source to the robot.