So I actually work as a Sewer CCTV camera operator, what is demonstrated in the video isn't anything like what we have. The system in particular we use is made by a company called iBak. It has a camera that can pan & tilt with a +/- 120 degree panning range. The tractor it connects to can survey lines as small as 4 inches diameter.

We do have to deal with stuff like offsets and protruding taps, but we don't have wheels like the one on the video. Ours are typically either rubber or a tungsten composite and both are round like regular car tires, tracked systems do exist as well.

I do know for water there are options to be able to inspect lines from the inside but they can get expensive, mainly due to having to be ultra careful in making sure you aren't contaminating the line/system. That and with the pressures involved it has to be built like a literal tank, even more so than the ones used for sewer inspection. Heck the one I use is about 20lbs of nickel plated brass.