Think about Fallout games. You weren't exploring random dungeons and caves, but the setting. Sierra Army Depot, BoS bunker, Oasis (which, by the way, DOES ****ING NOT CONTAIN ANY HAROLDS), some cities- like Modoc or the Republic of Dave- and all had background to share.
And for some reason, exploring in Gothic games was actually fun (unlike a certain game that starts with F and end in 3), even though I must have sold like 200 rusty axes by the end.