I don't see how PF doesn't work with exploration. It has numerous skills and other mechanics that can be of use in that pillar (or in interaction, for that matter).
Biggest issue with 3e/PF for me is the huge class imbalance - some characters have useful skills, others cn wield powerful magic, others get nothing, and are only useful in a standard 4-fights-a-day setup, if then.
This is equally an issue with the social pillar. 5e with its Bounded Accuracy, limited magic,
and easier access to skills does not have the 3e/PF issues.