Writing is always exploring even writing essays for uni where they had to be very structured was an exploration.
In my essays I always somehow ended up where I wanted to be.
And each time it was a surprise.
Think I always ended up where I wanted to be because I had sletched it all out in a few notes, knew what I wanted to prove and did it.
In non essy writing this is the same except the journey is longer more intense as the story has more room to live a life of its own.