This study investigates multimodal perspective sharing through machi-aruki (town tours and strolls) to facilitate knowledge transfer and inclusive community development in historical urban areas. We employed an action research approach with five participants representing diverse expertise and mobility experiences, including disaster prevention specialists, accessibility experts, and a wheelchair user, who conducted tours in a historical educational area of Tokyo. Two recording modalities were utilized: conventional first-person recordings and 360-degree spherical recordings. Through qualitative analysis of reflection sessions after machi-aruki, we examined how different recording methods influence participants’ ability to understand alternative perspectives. Our findings indicate that 360-degree recordings remarkably enhanced perspective sharing by clarifying implicit role divisions and expertise-based attention patterns among participants. The 360-degree recordings facilitated the identification of previously unnoticed environmental features and enabled cross-expertise knowledge transfer: disaster prevention experts concentrated on overhead hazards, while wheelchair users focused on ground-level obstacles. The multimodal approach illustrates how technology can augment traditional community engagement methods, providing tools to make visible diverse perspectives vital for inclusive urban planning and community development.