You can do that with Google Earth VR. It’s actually really cool in VR. You feel like Godzilla.

Unfortunately it’s only a small subsets of major cities and the implementation feels so half-baked it could have been an AWS service.

But it’s still a cool tech demo nonetheless.

No, you can't. Google Earth VR is indeed awesome (I am biased because I was involved in its creation), however there is no seamless integration between Street View and satellite view, and no free camera motion or even stereo rendering support for Street View in Google Earth VR. Google Earth VR was essentially abandoned and hasn't been updated at all since 2018, as can be seen in its Steam listing. This is due to the sad failure of the Daydream team.

Finally there is a glimmer of hope now that Android XR is happening. There is a new version of Google Maps for Android XR that does finally have a 3D reconstruction feature for Street View, but only for building interiors. Hopefully it won't be abandoned this time!