My only problem with PoF exploration is that the mobs won't let you.
CC! CONDIS! BLIND! HIGH AGGRO! HAHAHAHAHAHA!
That has not been an issue for me outside of The Desolation and that's due to those black puddles that I sometimes don't see in time. The mobs are a lot easier to get away from now than in HoT areas.
Thinking about coming back for the expansion but only started HoT, still worth playing through all of that first or is there some QoL stuff from PoF to get to make it better? I don't really wanna do the story out of order.
Are you also making sure to do the Living World Seasons (Season 2 before HoT and Season 3 after HoT)? If not, you're missing some story anyway then.
That said, the main QoL is the mounts which make the jungle more bearable that said they aren't a requirement obviously so play through HoT and if the Jungle annoys you, just remember, you'll get mounts soon and that will help a lot whenever you go back to HoT areas.... or if you make alts.
I always have to play through the story in order on every character (no skipping stuff) but mounts make doing that a lot more fun since like the glider, once they are unlocked on one character, they are unlocked on all characters. (you can only not use them in instances before you got them, ie you can't use the glider in story instances in Core Tyria and you can't use mounts in story instances in Core Tyria and HoT)