As others have said the camera is the first thing that you need.
I just had this done at a rental property. The original line ran under a garage so we moved the line. The city came out & moved the tap.
About 60 feet. I have a basement with drains so the line started out at 9 feet deep & went to 11 feet. My cost just under $5K.
I got 4 estimates including one from A.M.S/Roto-rooter- rip off- who tried to talk me into running a sleeve through the original line. (claimed it would be cheaper since we would't have to dig up the line). Their price- $7K.
I ended up with a local independent guy. $2K will buy a lot of sod.