It's notoriously difficult to explain the Yakuza series to newcomers. High-stakes criminal dramatics rub shoulders with over-the-top goofy minigames ranging from karaoke to running a cabaret club, and that dynamic has only gotten crazier since the swap to turn-based combat.
All that to say, if you're going to start playing one of these games, you should probably start with Yakuza 0. Still, while Infinite Wealth's story is mostly nonsensical unless you've played the truckload of games that came before it, the game's turn-based combat is genuinely very fun and worth trying for that alone.
As far as exploration goes, it's a joy to run about the streets of Hawaii and Japan - and there's plenty of collectibles to keep you busy.