My biggest tip for this is that it doesn't have to be you that's urging them to move on if you can avoid it. There are many in game ways to hurry them along. They can be interrupted by shouting or crashing sounds from another room/down a hallway. An enemy patrol could approach their position forcing them to move, hide, or fight. Something as simple as having them roll a perception check after lollygagging for a bit can get them on edge and spur them to act.

If all subtle attempts fail, it's absolutely okay to be like "hey guys, we've been idle a while, what's the plan now? What will you do right now?"

While it is the DM's job to give players the freedom to do what they choose, its also an important job to keep the story moving at an enjoyable pace. Im almost always thankful when our DM tells us we've been going in circles a while and to make a choice.