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Or you can do both in a single playthrough by not doing the final encounter I guess.
I have barely explored underdark, but there is definitely A LOT more content in this zone and grymforge combined.
And yes, afaik you are free to explore both areas without any cut off points. Just make sure you don't finish act 2 main quests too soon.
How do you know you are at the end of Act 1 then? Any non-spoiler ways of telling me?