This is verified working in Blender 3.0.1 and involves changing the keymap:
- Go into
Edit→Preferences→Keymap - Search for
view3d.rotateand find the one bound to Mouse / Middle Mouse - Under View3D Rotate Modal, click
Add New - Pick
Switch to Movefrom the list - Expand the tiny
next to Switch to Move(if you try and do it on the A just to the right without expanding, it won’t let you pick Shift) - Click the A next to
Switch to Moveand press Left Shift - Pick
Pressfrom the drop-down to its right
Now repeat the process for view3d.pan, Switch to Rotate, and Release