You can ask, but there's no offering to pay inspection costs, these are your expenses regardless.
Bear in mind there's no such thing as free money, every seller has a bottom line. Seller paid closing costs are simply added on to this number. For example: If the seller's bottom line is $200,000 and you want $5000 in closing costs, then the contract price will end up being $205,000
It's always the buyer's money the only advantage to a seller paying some closing costs is up front cash flow for the buyer. Good luck!