David Braben has said the ships have been designed to accommodate walking around the interiors. I can't link the video but he was pretty specific in the video.
Sure, but what does that mean in practice? It might just mean they've made sure the ships are large enough to fit the number of intended decks and that the cockpit, boarding ramp/stairs and airlock are positioned correctly within those decks. It doesn't necessarily mean they've worked out, or modelled, even a basic layout for each deck for each ship.
My guess is that some early work on the internals was done but that the addition of the SRV bay and fighter hangars was never part of that and even the weapon slots seem to intrude into awkward locations in some cases.
As such I am currently a bit sceptical that we will have the ability to walk around our own ships any time soon and maybe never; if I'm right it would be too much work for not enough game-play. On the other hand, the ability to walk around/space-walk outside of our ships or SRVs might still be worth doing.
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