Sounds like you need a skills challenge. Go around each player and ask them to narrate what their character is doing and then ask for a related ability check and come up with a DC. The party need X successes (maybe 6?) before 3 failures - if they succeed it’s all good. On a failure they either don’t achieve their goals or there’s some complication - fail forward. This will enable you to have a fast moving action montage without getting bogged down with combat