There is no complete Google Street View in the parks (would be neat) - but lots of people are posting 360 photos from the parks on their phones.
If you zoom in on Google maps, you can see blue dots where these are and check them out - then you can drag the photo around to see what it looks like at that point as if you were there. Might help you get familiarized with the parks a bit...
Here's a link to a photo in front of the castle: https://goo.gl/zFkSF2
You can hover over the little square map on the bottom left of the page and zoom in to see dots for other photos.