I'm going to share with you the gem I've been using for about the last 6 months to handle exploration framework and I could not be happier with it. I've been working on it during game nights and here on enworld. I have used this system in other roleplaying systems outside of DND and Pathfinder including MouseGuard, Call of Cthulhu, and World of Darkness: Changling. It's a pretty universal system.
I call it the Event system and this works for me and my play group. However you and your playgroup might not find it useful as other alternatives like Skill challenges or other homebrew.
i'm really sorry for the length of this post.
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EVENT SYSTEM:
In a nut shell... PCs are given a Goal and a Duration of time. Within The duration of time the PCs must complete the goal by earning enough points to complete the Goal. Points are only awarded to players that perform helpful actions that progress the party or themselves to the goal, the more helpful the action the more points they are awarded. If the PCs collectively earn enough points to match the goal, they succeed with a Win condition, If the don't collect enough points by the end of the last round of the duration they receive a lose condition (failing foward).
=====SETUP=====
when creating an event this is what you need to set up.
THE GOAL: This is what they are working towards. This can really be anything you wish and can vary greatly. Election campaign for high priestess, escape a burning build, explore lost ruins to find an ancient artifact, climb a cliff, etc.
GOAL (POINTS): This is how many points the PCs need to acquire to complete the goal before the duration ends. (more on this below)
DURATION: Events use rounds to keep track of passing time, however these are unlike rounds of combat in dnd which a round is always 6 seconds long. the length of time for a round in an event can vary greatly. one round for an event might be tracked in seconds or minutes as you sneak past guards or chase after a criminal that escaped. however in the next event one round can be days or weeks as you campaign for an election or trek up a mountain for example.
There is always a set number of rounds. I normally use a number between 2-5 (I normally use 3). This acts like a deadline to the players in which if the goal isn't completed. All events have this contraint.
THE WIN CONDITION: This is the reward the PCs gain if they succeed the Event. Ex: Did the heros find the artifact before their nemesis?
THE LOSE CONDITION: This is a penalty the PC incur if they fail the event. IMPORTANT: the lose condition should not halt the adventure, it should only add to it. maybe the nemisis found the artifact right as they were about to reach it, now they have to fight the nemisis with it's newly acquired power.
DIFFICULTY: Each event has a difficulty, this is how hard the given circumstances are for the overall event. The baseline difficulty doesn't change throughout the event, however it might vary depending on player choices or advancements given by the DM (see below). Difficulty varies depending on the game. In DND this is measured by rolling higher numbers. So difficulty will be the base DC or target number the player needs to reach to succeed at the task. 12 is easy, 15 is hard, 18 is very hard etc.
CALCULATE GOAL POINTS: For this forum post I'll say we want the adventures to go through an Event where they are "Searching the dark forest for an ancient long lost temple". To calculate how many goal points they need simply multiple the duration by number of players.
EX:
If I say the duration of the "forest trek" event is 3 rounds (each a few hours long long) and we have 4 players in this event, I simply multiple them (3 rounds * 4 Players) to get a total of 12. This is how many points the Heros need to acquire before the end of the last round. (Difficulty only makes acquiring these points harder for the PCs and thus not calculated into the equation)(DMS: feel free to fudge a point here or there.)
=====PLAY=====
During each round of the Event (in this example 3 rounds, each a few hours long) there are 3 steps: Planing, Do, and Advance.
STEP 1: PLANNING:
Players as a collective decide what they want their hero to do to help reach the Goal. There are two options.
DO: Do something that they think will be helpful to completing the goal. This probably requires a roll Vs the set Difficulty. However is might also use resources like spells, rations, items, etc. However if a player wants to 'rally the troops' and roleplay in character an inspiring speech off the cuff, I would allow that without rolls needed.
AID: Help someone, giving them a bonus to their roll (in DND I give a +2 bonus, in other systems like mouseguard it might be additional dice or the like.) please note that some aiding might require checks to perform, normally at a lower difficulty. I also allow multiple people to aid the same person.
There is no time limit for this step, as a DM let them discuss and when you think they have had enough time, hop in and progress to the 'DO' Step.
STEP 2: DO:
Each player plays out what their Hero will do (any order, no initiative needed). The players tells the DM what they want to do and how they want to do it. Then use a resource (spell, item, etc), roll a skill check, or roleplay to perform the action. If they succeed the action, the DM rewards points to that player based on the 'HELPFULNESS' of that action towards their goal.
(Ex: For finding the lost temple in the ancient forest)
1 point = NOT VERY HELPFUL
(Finding north or wander aimlessly)
2 points = HELPFUL (default helpfulness, if successful against Difficulty)
(Climb a tree to survey the land or Referencing bought maps)
3 points = VERY HELPFUL
( Drag a rope behind you so travel in straight line / avoid traveling in circles.)
Then the DM rewards that player with that many points thus inching the whole party closer to the goal. If a player choose to aid someone during the Planning step and the person they aided succeeded, the aider acquires 1 point.
DIMINISHED RETURNS: If the PC wants to try the same thing again lower the points rewarded by 1 each time. Thus is so they don't gain the same amount and start trying something new.
(We currently have the player who acquired the most points during the event gain a little bit more xp (25% more). This encourages cool and helpful ideas to complete the task at hand)
STEP 3: ADVANCE:
When each player in the event has either done something or aided someone else, the round ends. Now the DMs needs to advance the story to the next round. The DM narrates the event's progression. something new interesting should take place. This advancement should ideally do 3 things, add drama, challenge the players, and introduce new things for the players to do. These however easily can be planned during 'session prep time' and don't need to be though of on the spot. Below are a few examples for the treking the forest event.
Advancement #1:
"The players reach a raging river that blocks them on their path, the river is 20 feet wide and the current is strong showing white rapids." This opens up new skill checks and spells to use, and creative solutions for crossing. The same can be done for a steep cliff or a large cravass.
Advancement #2:
"An insect or poison plant causes one player (selected at random, or someone you (as the DM) want to see more interaction with) to cause a large painful rash or bite wound. This player now alone now has an increased penalty (probably severe like -5 to rolls) until removed. (someone needs to perform a 'DO' to remove it during the event or maybe healing surges will be lost (4e)). This opens up new resources to use like potions or spells, or another player shows off their awesome heal skill prowess)
Advancement #3:
"As you steer deeper the path tappers until you're walking in undergrowth. the forest light grows dimmer, but the undergrowth grows thicker. " One characters might use endurance checks to start hacking away at the vines clearing the way for the others. A knowledge nature might find an easier route through the undergrowth.
=====RINSE AND REPEAT=====
Repeat the play process until a lose or win condition is triggered. either the party wins when they acquired enough points to match the goal amount. or lose once the last round has ended and fell short of the goal amount. The DM should then describe what's happening as the adventure progresses.
NOTE: again if fail con is triggered, Always 'Fail foward' so the adventure doesn't lose momentum or stop dead in it's tracks. Maybe they reached the temple but at a sever cut to their healing surges (dnd 4e), maybe there are guards at the front door (combat). etc.
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Events real beauty is for a DM. It has quick prep time and plays very smoothly. for prep think of goal, duration, win/lose con, a few possible advancements, and your done within 10 minutes. and it's a good long time to roleplay.
LINKING AND NESTING EVENTS
You can also link events together one right after the other just like combat. as well as easily mix combat and events together.
In the first or second post someone here did exploring a dragon mountain. (I like your take on skill challenges but can't XP). it could however also be done using this event system:
ENTERANCE exploration event > SHALLOW exploration event > DEEP Section exploration event > DRAGON combat.
Each event maybe 4-6 rounds in duration, increasing difficulty as you progress. advancement might be a trap, puzzle, or even combat the PC now have to face.
but that's not all! Events can also nest inside of each other. using smaller events as the advancements. I did this with a campaign in changling when someone wanted to become a high priest in the winter court. The arcing goal of the main event was becoming the high priestess, however each advancement I created another smaller event where the goal was to sway another council member in your favor.
seriously thanks for reading this if you made it this far. hope you find this helpful

. I plan to use since I find it runs very smoothly.