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If I explore, get lost, and thus don't make it back to camp, do I still get to complete the rest action to the right of the explore action if I had place a worker on it?
I think that if the intention is to rest after an exploration, this is the risk you have to assume. There are 5 more rest actions on the board, which are resolved before the exploration action. If you get lost, you cannot come back to the camp and do the other things you had already planned (for example, the last rest action or to feed the fire, so that it doesn't extiguish).