An in-fiber beam scanning system may comprise an input fiber to provide a beam, a feeding fiber comprising an imaging bundle with multiple cores embedded in a first cladding that is surrounded by a second cladding, and an in-fiber beam shifter that comprises a first multibend beam shifter coupled to the input fiber, a graded index fiber following the first multibend beam shifter, and a second multibend beam shifter following the graded index fiber and coupling into the feeding fiber. In some implementations, the first multibend beam shifter is actuated by a first amount and the second multibend beam shifter is actuated by a second amount to shift the beam in two dimensions and deliver the beam into one or more target cores in the imaging bundle.