Humans are, above all, adaptable. They rise to the occasion exceeding the rest of the race in areas critical to the success of their craft. A half-elf uses human adaptability and elven quickness to rival all but the birds themselves.
For genuine exploring you need cure disease or a poultice. You also need significant damage reduction. These things are hard to get without empowerment or battle cabal.
Anyone, what you're looking for is probably N/N bard with periapts, talismans and scrolls.
If you want something even more casual, I guess give something like arial hunter explorer a shot.