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to peek (through a keyhole, gap, etc.)
to look down into (a ravine, etc.)
to peek into (a shop, bookstore, etc.)
to sneak a look at; to take a quick look at
to peep (through a telescope, microscope, etc.)
to stick out (a scarf from a collar, etc.); to peek through (sky through a forest canopy, etc.)
to examine (an expression); to study (a face)
窓から外の様子を臨いた。
I peeked at the scene outside from the window.
山の上から谷を臨くと絶景だった。
Looking down at the valley from the mountaintop was stunning.
展望台から街を臨くのが好きだ。
I like looking out at the city from the observation deck.