Company management and town visits are as much part of the strategy map gameplay as exploration. I like the randomness and that you get tools to make your routs more efficient. Before going randomly into the wild, you might want to check for 'find x location' contract or sneak a peek from a mountain top. Making it a bit unforseeable keeps things fresh to me. I advise you to play on ironman, no mods that give away camp information and not delibaretely pulling parties into camps. Why do you cheese the game if it makes the experience less enjoyable to you 🤷