You might be interested in GNU poke[1][2], a hex-editor type program that can actually parse and visualize the structure of binary data (using a DSL for describing formats).

[1] https://jemarch.net/poke

[2] https://news.ycombinator.com/item?id=34986042

I've been using ImHex[0] for this purpose, to pretty good effect.

[0]: https://github.com/werwolv/imhex