Considering the amount of hazards a unit could auto-walk into, and that they have no problem with walking right up to a monster 100x more powerful than they are, I think the Explore option should simply be removed from the game.
Yes. I mean does anyone ever use the explore function? Yes the AI does, but nothing seems to bother the AI, like it has really bad BO or something.
I did use the explore my very first few games of FE, but I soon learned it was guaranteed suicide and have never used it since.