The short answer is yes.
Way back in the 90's we were using full colour Endoscopes for inspection of Aircraft engine combustion chamber and fuel tanks which are light sucking voids. We even had a flexible scope, 16m (50') long for inspecting the inside of the reaction control ducts of the Harrier Aircraft
You get what you pay for.
The flexible tips (depending on manufacturer) can move past 180 degrees to look back on themselves
While camera resolution is important equally so is the fibre optic for light transmission, although dive cylinder shouldn't need that powerful of light source
What is extremely important, is "calibrating" your eyes since these scopes give varying degrees of magnification, thus it's easy for a novice or someone with limited experience to condemn a component that has a perfectly acceptable defect or artifact.
I used to teach assisted visual inspection over a 3 day course which mostly consisted of practical exercises for the inspectors