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there is an issue open for reopening the last picker with its previous state https://github.com/nvim-telescope/telescope.nvim/issues/1701 which seems like a pretty ergonomic alternative
maybe this can help you
You can use the Ranger Filesystem. It has previews for files. Great for exploration, as you claim to need.
Although Ranger is a terminal application, you can use it in neovim via some plugins like rnvimr.