I do describe things well, but I'm not speaking from just my DMing experience, but also from play under many other DMs. Do all players want lore? No. I've seen plenty who just want combat, treasure, to explore places, or whatever. Most of those I've DM'd for and played with have enjoyed the lore, though.
I would add, that you need a setting to have a game at all.
Yes, that Settimg can be improvised at the table without prep, or planned im advance.
My preference is to plan important details of the Setting in advance. Which makes it easier to have a consistent setting.
For my spelljammer campaign, I knew the PCs will start in an asteroid field and fly along the first levels with an asteroid hopper (a non spelljamming ship that with the help of hooks and ropes basically swing from asteroid to asteroid, the field is a fantasy asteroid field where the asteroids are quite close together). For that asteroid field I created (not in detail) several small settlments and the starter town - Plank City, which is a settlment of asteroids coppled and hold togethter by robes and planks, run by a church or chauntea. I had NPCs and locations for that town ready.
The settelment started out as a refugee camp 400 years or so ago, when the main planet was destroyed in that wildspace system. I also noted down some secrets for the settlements, some names, some history bits for the players to discover, and the name/concept of the next bigger settlement they could reach with the asteroid hopper (Flumphaven - a star harbor city build on the back of a gigantic space starfish). Also a possible antagonist for the first tier of the game (Neogi Pirate who stole two Ships and "the ultimate slave making machine" and Slaves from his Master to himself become a Master, now terrorising the poor space guppy fishers and Ice farmers of the asteroid field).
But that are like setting things you need to run a game.
Of course I can make that all up on the spot. But it is way easier to prep a setting beforehand.
Like, 99% of all GM game prep is setting prep. Every location, encounter, NPC, monster, adventure hook is setting. I prefer my GM is preparing at least some of that so that it stays consistent.