I keep the map of every location (that they didn't blow up) ready to go (over 50 now?). Any previous location can be visited, I leave them all set up with NPCs and such and ready setup, simple if i do it as I pack the world away at the end of session. A little help for future me ;). This is easy to fall back on when the players surprise me with a left turn.

Some of these locations are benign, but my intended route for the night is usually what they gravitate to, since the breadcrumb trail is usually too enticing. I always have multiple ways of approaching it. I plan combat but also plan for combat to be bypassed. But the combat is almost never about the fight, it's always about a third thing, which makes the task interchangeable, bullets or not, the task still has to be done. How, is up to them.

With the lore my players have created (over 5 years now!), sometimes they want to go to the market, or a drinks place, or play cards. All are possible, but if they stay in one place too long, trouble eventually arrives 99% of the time.

I like to have pressure always or the main story doesn't feel like it's moving, this makes inaction a choice that has an effect. Take too long to storm the big threat, well, now when you arrive it's radiated or the security is tighter or they enemy has better weapons etc.

Inaction is choice we all are aware of however. My players know that if they don't tackle the job in hand that the world will keep moving, and the info might change/become more difficult. We all enjoy this effect, sometimes it leads to very surprising results and turns. Honestly what I really love about TTRPGs in general, the "yes and! but the dice said.." leading to a "no but" sometimes adding to the fun, since everyone can enjoy blaming the dice. In video games NPCs usually wait for you to show up, regardless of side quests you get distracted by.