The word "snoop" means to secretly look or search around without permission, usually to find out information about someone or something. Full definition
So, if you're interested in snooping around on people you know, this is a good way to go. (drive-safely.net)
I identified with the mom, as I've raised three kids and two of the prom after parties were at my house — probably so I wouldn't have to drive around snooping on them. (sarahsbackstagepass.com)
They check in to a hotel in Innsmouth with the intent of snooping around for some evidence that might point to the Marsh family, but things quickly go wrong. (wolfsgamingblog.com)