In general, it would be pretty silly if anyone could get access to the internals of a pod if they didn't have the proper authentication.
Is your enterprise using Jenkins to build the applications that you deploy to kubernetes? Are those builds using kubectl to do those deployments? If you can see the command lines in the build output, you can see how authentication is done. If that information is visible, then the enterprise likely considers anyone who can see that information to be trusted to access those pods for diagnostic information, so you should be able to do the same thing.