In game, I think exploration is the middle layer between combat and roleplaying.
Combat is the zoomed-in, second by second tracking of the action, where very round matters and the risk of personal injury and death is at its highest. This is the province of the Warrior archetype.
Roleplaying is the zoomed-out, scene-framing aspect of the game. Death and injury chance is usually minimized, and the focus is on changing the situation of the game, whether by talking to the nobleman to gain information, or by casting a spell to teleport to the villian's lair. Time is usally tracked by the hour or day, not by the round or turn. The Mage archetype, with his knowledge, status, and ability to periodically change the nature of the environment, excels here.
Exploration is the muddled in between. Time is tracked more closely than in roleplaying, but individual order rarely matters. Risk is lessened compared to combat, but still present due to traps and other environmental hazards. The focus is on understanding the environment in order to gain advantage and rewards. The Rogue archetype, with their focus on awareness, and using special tricks to gain advantage, is the focus for exploration.