best exploration teams imo are 2 anemo, a jumpy character, a character that makes climbable constructs, a mining character, and a character that gives increased movement speed in some way. I don't think healing is necessary for an exploration team because you always have access to the NRE to use instead, so healing can take a backseat to More Movement. Recently I've been using Wanderer (anemo 1, jumpy character) Sayu (anemo 2, increased movement speed), and Zhongli (climbable construct & good for mining) with the last character being whoever seems most useful for whatever my end goal is. When I was farming Sumeru specialties it was Tighnari, for example. If I'm just fucking around without a particular end goal I'll normally put a bow character in the last spot bc i like sniping things from far away.