Ultrathin molecular films are widespread in both natural and industrial settings, where details of the molecular structure such as density, out-of-plane tilt angles, and in-plane directionality determine their physicochemical properties. Many of these films possess important molecular-to-macroscopic heterogeneity in these structural parameters, which have traditionally been difficult to characterize. Here, we show how extending sum-frequency generation (SFG) microscopy measurements to higher dimensionality by azimuthal-scanning can extract the spatial variation in the three-dimensional molecular structure at an interface. We extend the commonly applied theoretical assumptions used to analyze SFG signals to the study of systems possessing in-plane anisotropy. This theoretical framework is then applied to a phase-separated mixed lipid monolayer to investigate the variation in molecular density and 3D orientation across the chirally packed lipid domains. The results show little variation in out-of-plane structure but a distinct micron-scale region at the domain boundaries with a reduction in both density and in-plane ordering.