Is it possible to see the lifetime totals (steps, distance, etc) from all data in the Health app? Perhaps with a third party app?
While it is not possible anymore with iOS 10 to export your health data, you can export and view it with this app: QS Access by Quantified Self Labs https://appsto.re/de/ocQ22.i
That's true. QS access only displays your data and can export it.
Do you want to view your lifetime totals on a regular basis on your iPhone? In this case there is a two step solution possible using workflow.
I typically export all the data which makes a zip file of the xml data and then send it to a file storage / web application to analyze / summarize the data.
The thread above has some web apps and options to use Xcode or other editors and tools to process the exported data. I’m not aware of a way to do this on iOS, but if I do or someone else does, we can edit this answer later.