I think that is the most powerful reason. Humans want to know. We want to know and not just know in the form of pictures and data streams. We want to know what it feels like to be there. We want to know the effect of unique locations, and the trip getting there, has on a person.

This is a very deep desire.

While we do go to expand territory, profit from natives and recruit new believers this is not true of many of the most difficult explorations and travels. The travels to the moon, Everest and both the north and south poles don't fit into the exploration for profit model.

There were no natives to browbeat into compliance. No natives to trade with. No great wealth to plunder. No reasonable hopes of opening large territories to to provide living space for a crowded nation.

The late George Carlin had a line about how people would buy just about anything: 'Nail two things together that haven't ever been nailed together before, and some schmuck will buy it from you'. Uniqueness has an intrinsic value in the human mind. Unique places are also assumed to have value. Not so much for collection or resale. But as an alchemical ingredient to effect the human mind.