There are multiple ways to tilt and rotate the map in 3D.
Click on the 3D map navigation tool. With the tool active, hold the left-click button while dragging the mouse on the map.
While in 3D, hold the right-click button while dragging the mouse on the map.
Use the right-click function on your keyboard and trackpad to click and drag.
On some laptops, you have to press and drag with two fingers on the trackpad.