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Then when you're done, have everyone leave that tile, select the settlement and choose to abandon it. Note that you will never be able to return to a tile that you settled and abandoned - pass over it with caravans sure, but not resettle it.
https://steamcommunity.com/app/294100/discussions/0/3058491773344662541/
No. You have to settle it to explore a tile and find ore or things like ancient dangers. You can settle and then abandon, you don't have to treat it like a colony, just create a temporary camp, extract the resources, then move on. It blocks you from settling that map again in the future, but there's no real limit of explorable hexes this way.
The Set Up Camp mod allows you to create a random procedural "quest map" wherever you want, it doesn't use the map seed and you don't get all the resources, it's mostly just for gathering berries or doing some hunting during a caravan. You can turn on ore spawning in the options, last time I tried that it didn't work though, and AFAIK you can't enable ancient danger spawning which is a big reason to explore new tiles.