External examination
Why not something as simple as a larger version of a flexible endoscope? Relatively low tech maybe, but "K.I.S.S."
Models used for looking insde the human body only need to be a couple of meters long, but there is no reason that they couldn't be made 30 meters long. Fiber optics provide excellent images and internal cables combined with a semi-rigid outer shell allow for a high degree of tip manoeuverability. It could coil up into a fairly small package. If surgeons can do delicate procedures using these devices, astronauts should be able to perform at least some kinds of repairs. And even if repairs weren't possible, at least a good assessment of the fitness of the craft could be made.