You should watch the cutscenes as they happen. Aside from two specific dungeons where they're no longer skippable, they rarely tie people up for very long and you only get to do it for the first time once.
For exploration, you can actually use the Return teleport command to go back to the start of the dungeon after it's over, and everything's dead so you can explore at your leisure without making anyone wait. At high level you can just queue solo and blow everything up in most of them, too.
This is not a game where everything is meant to be done solo.



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