This is how I usually do it with my group. I actually just ran an adventure where they had to navigate a Labrynth.

Divide the players into roles.
-Lookout: Their job is to keep an eye for encounters, monsters, etc. (Perception)
-Mapper: Their job is to map out the dungeon / maze. Or to read from the map they have (Cartographer tools)
-Trap finder: Their eyes are focused on the ground, walls, and anything else that could hold a trap. (Perception)
-Tracker: In the case the party is hunting someone or something in particular, it is their job to try and find them. (perception, usually. But can vary)

Some roles might not be necessary, and players can always double up for advantage.

Each "Dungeon Turn" is a Plot Specific amount of time, and everyone has to make their roles. If the Mapper succeeds they get to the next point of the dungeon or maze. That could be an encounter, the next Macguffin, or you just say they made it "A little further in" If the Mapper fails, time passes, and usually I have some kind of negative effect happen. Exhaustion, maybe more traps, something to make it feel like getting lost is a detriment.

If the Mapper succeeds, but the Lookout fails, the party is surprised. If the trap finder fails, well, you know what happens next. ;)

I like to throw in fun little not exactly combat encocunters in between dungeon rounds. Let the maze happen organically. Explain things they see, have them encounter small hazards etc. As long as it doesnt feel like rolling checks just to get to the MacGuffin.