If you cycle through the different views using 'V', you will find one view that isn't in-car, or a chase view, or helicopter, or a spectator/TV view.
Using the camera position sliders in Options/view, you can make this view whatever you want, from wherever you want (within reason - you can only move a certain distance away from the car).
Note that you have to be in the car, and in this view, to change the settings. It will only save this view setting for the particular make of car you are driving at the time. If you drive a different car, the custom view will be different for that make of car until you change it.