I should note, I don’t interact much with challenge on the attrition axis in 5e, and I don’t use it to make exploration engaging. Most people I know don’t find that engaging, they just find it annoying.
I make travel, survival, exploration in the normal usage, engaging by presenting opportunities and consequences if you reach for those opportunities and fail.
I also find that doing the above leads to less avoidance of spending time in the wild or whatever. Teleport is for when you need to get to another city right now because allies you made back when you didn’t have such spells are in peril and oh hey! Just as they face a kaiju rampagng toward thier walls, I’ve learnt to transport us all across the continent instantly, once per day!
Aside: I do also think that high level casting should be weirder, riskier, more limited, and stay exactly as powerful as it is in terms of a given spell.
Like, make all spells of 6 level or higher only ever have 1 spell slot per day or make each spell slot above 5th level require a recharge roll or a roll to see how many you get back when you rest, or both.
Make the player roll to avoid Those What Walk Between when casting plane shift or Magnificent Mansion or any other spell that involves demiplanes or crossing between planes.
Employ things like the Encounter Die roll I mentioned upthread or clocks or something more to higher level spells, where you risk danger every time you use them, or every hour you spend in a foreign plane without a planar anchor, etc.
D&D magic Is epic and miraculous and weird, and removing that makes the game poorer, but making it also dangerous and hard and slow to recharge, makes the game richer.