Can you over-explore in this game?

Playing through Part 1 on PS5 for the first time ever and am loving the atmosphere and stealth mechanics. I’m coming from largely open-world exploration games and am used to exploring every nook and cranny I have access to. Should I be doing the same in this game? I feel like I’m slowing the game down by doing so, with NPCs just waiting around for me to wrap up trying to open every desk drawer and cupboard I see. Are the rewards great enough for exploring like this? Or do the resources you need largely come into view along the way if you just stick to the story and follow the path ahead?