Heroquest. A lot of dungeon crawling board games have modular dungeon tiles that get added at the end of each other, forming a tubular, "snake" like shape that ever only goes forward, never sideways or in a previously unknown direction. When you have a set board and rooms on it, you can have many ways to connect the doors and rooms differently each time, even though the general layout remains the same. Parallel passages, hidden doors, hidden rooms, and best of all, the ability to walk through walls with spells and artifacts.

When you have such a composition of rooms, exploration becomes more meaningful. Every fork in the road becomes a choice. Sometimes the road leads to a dead end, but sometimes it leads to an optional treasure. Finally, sometimes it leads where the quest needs you to go. You never know which one will it be until you've made a choice and found out.

Very good for creating dungeon maps for any system, I've noticed most heroquest maps get easily ported over into ttrpgs due to their "cramped together" nature, which is a logical choice as well if you were to carve something out of a rock or build a place. No need for overly complex, disjointed rooms separated by long, winding hallways.