The EXPLORE option should be just that; able to be explored openly. The fact that you have to kill everything to hopefully open up the route you want isn’t exploratory at all. It’s just a solo playthrough of the other option. Remove the barriers and allow us to wander and explore the play space as we see fit!
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Wait, what? That would be like going to the mall and being able to go into any store you want to, instead of just Taco Bell and Victoria's Secret. Just plain crazy.