One method to select an underneath object (and other objects deeper in Z-order) is clicking it (repeatedly) with while holding the Alt key down.
Is there another method, maybe with some advantage?
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I recommend learning to make selections in the objects panel as an alternative. It can happen that something has been sunken below opaque bigger shapes - you cannot Alt+Click it because its place is not sure. But it can be selected by clicking in the objects panel. There you can access also items inside groups.
In complex works it's useful to rename at least some items and groups in the objects panel. Renaming layers is even more useful if there's several of them.
In objects panel one can lock and also hide items which shouldn't be got selected accidentally.