Sort of. I dislike them in general, but if they are reasonably implemented and don't turn the whole game into "can't explore in peace and must always hurry", then it's... bearable. Still, I wouldn't say they improve the game. It might be jarring if the premise suggests urgency and you can take all the time you want, but I'd say it's the lesser evil.
I don't see why decently implemented time limits should "prevent exploring". They are supped to limit how much time you have to achieve specific goals, not how much time you can spend into the game in general. It should be even less of an issue when matching a deadline gives you an extra reward, as in the Kingmaker example I mentioned, rather than punish you.