Debug an executable file with dive into its libraries in radare2

Question

I have an executable ELF file e.g. aaa. This executable file uses its library e.g. ../bin/libaaa.so. When I debug r2 -d aaa I see some call functions from the library libaaa.so e.g. sym.imp.AAAfunc1 at 0x44651. When I reach that call, I can only step over it. How can I deep dive into libaaa.so file to debug that function contents?

I am new to radare2, and if some other tools can do this I can switch to that