Oh... I did not realize that dungeon delving could be what was meant by "exploration." Bashing dungeon doors and avoiding traps and mules and flasks of oil.
I always thought it was more like what we did in a certain Runequest campaign and another Rolemaster campaign: wander around and discover the wonders of a brand new world. See new places, learn their history and culture, imbibe their exotic herbs and fight their indigenous monsters and try to avoid any political problems. Learn the gods and cosmology and legends, and get caught up in quests.