In KiCad v5.99 (the development branch), the opacity can be modified for both solder mask and the board body opacity. I have set solder mask opacity to 0% and the board body opacity to 50% in this video.
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KiCad v5.99: Arc/Curved Track Dragging
KiCad v5.99: convert circle to copper zone keep-out
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KiCad v5.99: keychain with rounded corners
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KiCad 3D Viewer can now render OSH Park “After Dark”
KiCad v5.99: Convert rectangle to lines
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"After Dark" now looks great in KiCad
KiCad v5.99: set opacity of a layer
KiCad v5.99: slider for opacity
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