No, currently there is no reasonable way to see comments for multiple records at the same time. Currently, the only way to see comments is in the expanded view of a record, or in a comments element in an interface.
Theoretically you could have an interface with multiple record pickers and multiple record comment elements, but using it in practice would be a bit cumbersome.
Your best bet would likely be to create your own comments system in Airtable, where you create your own “comments” table. Each record would be a new comment, and you could link each record to the “actual record” that you want to comment on.