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xkcd #2844: Black Holes vs Regular Holes
(imgs.xkcd.com)
Alt text:
Created by the collapse of: [massive stars] [Florida limestone bedrock]
Only if the tidal forces are large enough. For a small black hole, the tidal forces will kill you before you reach the EH.
See here for speculation on civilizations inside a massive black hole: https://www.academia.edu/10665641/Is_there_life_inside_black_holes