Usually, the answer is no—roofers do not technically need to come inside during an inspection. However, if you have a leak or notice water damage on the ceiling, your contractor might be interested in examining it. As a responsible homeowner, you should make sure that your contractor performs a thorough inspection before they decide how to proceed.
Overall, lack of indoor access will not prevent the roofers from getting the work itself done. In fact, during the actual roof replacement, roofers should have no need to enter the home. The project plan should be laid out already and the work is done strictly from the outside.