The Wikipedia example shows something kind of JSON-like but originally VRML was like HTML (SGML).

Something similar to that is A-Frame VR which is built on WebVR.

There used to be a way with at least one VR-enabled browser to navigate without exiting VR (if the other site supported VR). Not sure any still support it. I think this may be because it goes against walled-gardens interests. https://github.com/immersive-web/navigation#api-proposal