If you don't want to drop sections of the underbelly, you could install hatch covers in areas of the underbelly to inspect the key areas that you are interested in.
I installed 6" round hatch covers in my underbelly to access the ultrasonic water level indicators I installed on the bottom of my holding tanks. You could install larger rectangular hatch below key areas, such as where your dump valves connect to your grey and black holding tanks and a where your fresh water tank connections are located.
https://www.amazon.com/s?k=Hatch+cov...f=nb_sb_noss_2
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2016 Winnebago Micro Minnie 2106DS, 200Ah BB, 400w rooftop & 500w front cap solar
2020 Tundra SR5 DLCB TRD Off Road, 5.7L V8 w/6.5' bed & 38 gal. tank, 4.30 axle ratio
Blue Ox Sway Pro w/750# bars, wired RVS rear view camera, Renogy 20A DC/DC charger
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