What do you need to explore the map for? (there might be mission in the WotC expansion where you might need to, but I think those don't have timers, I think)
I only play through XCOM 2 once (my laptop's too potato to stomach another time at minimum graphics and slowdowns), but I felt that the timers weren't so bad, it pushed to move fast (agressive scouting) and not waste any time (no more overwatch crawl). Though there are missions with no timers or some where you can stop the timer partway through, so it's not always like that.
Well, they had a free weekend once and in the very first mission I thought "let's see what's around this corner". There were no aliens, the landscape was pretty, but it meant I lost 2 turns and the mission. I promptly uninstalled it and bought it a couple years later when it was 90% off. Never bought any expansion.
Maybe you like crap like that but I find it insulting. See my other answer for how to push players to move fast without introducing arbitrary limits.
I only play through XCOM 2 once (my laptop's too potato to stomach another time at minimum graphics and slowdowns), but I felt that the timers weren't so bad, it pushed to move fast (agressive scouting) and not waste any time (no more overwatch crawl). Though there are missions with no timers or some where you can stop the timer partway through, so it's not always like that.