Back in 2013, a group of De Montfort university students entered a competition at the British Library and ended up creating a fascinating fly-though of Elizabethan London.
I missed it back then, but have recently come across it. Whilst the views are absent of people, animals and all the muck and smells that filled the streets, you do get a hint if what it must have been like.
I'm not embedding the video here, because it's very much best watched full screen, You can access it on YouTube here.
Another fascinating set of views of old London os provided by Tallis's London, a sort of Regency Street View for central London. There's a blog about it here. Or, you can buy a copy of the book with a DVD of the maps from the London Topographical Society. They're based in Marylebone, I walked down during the first lockdown and picked up my copy in person. But I think they normally mail them out. (Fig7. in this post used an extract from Tallis's)