A lot of exploration in Skyrim is fairly illusory, exploration means you genuinely aren't sure of where to go and have to rely on specific cues to progress. If you did that in Skyrim you would end actually never getting to the next town or quest marker because the world is too big and there aren't any real cues as to what's what.
Dungeons with the exception of the Black... something..? The underground mushroom one, are also fairly linear and procedural.
Consequently you end up having to rely a lot on the world map or horse fast travel to get where you need to go and you end up with a fairly instanced procedural impression paradoxically.
Heck even with quest markers some things were pretty hard to find, like some quest on top of a snowy mountain with a necromancer or something... the only logical path was south but that was a giant hill so you had to go around or something weird.