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I believe you can use Astro to view stuff such as your SD card, but in order to view and edit system files you will need root and the "Root Explorer" app or something similar.
I'll try and find a link for you once I get home and can use my laptop, I've seen several ways to root the xoom which shouldn't be to hard, even if you have no experience rooting before. I'll be home in an hour or so.
Edit: Heres the link to an XDA Thread for an easy Root Process. HERE