I've recently replayed Sea Dogs 2/PotC and while bannerlord is better in combat, the former got the exploration element right.
- Have market stalls sell actually different goods so there is incentive to explore them. Goods sold through town menu are sold in "main" store, but market stalls with different stuffs will be available when exploring.
- Some secret stashes such as dead drops, or treasures guarded by high tier enemies in "dungeons". Dead drops respawn, but shouldn't be too high of value (100 coins, a low worth clothing item, a civilian weapon etc.)
- Have a speed up button available while exploring. Areas are huge and will take a long time to explore.
- Ability to attack people. Assigns a crime rating and has guards attack you, regardless where player may hide (tavern, lords' hall, arena), press tab to exit function stops working and only way to leave is to reach border of the map. All civilians cower and refuse to speak with player until calmed (next day?). Exception if player is owner of the fief, in which case it damages relations with local notables and slight damage either to wealth if civilian is killed or security and wealth if a guard is killed.
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