Is it more xp per hour to explore all the areas and clear them of monsters before proceeding to the quest objective or should I just go straight to the objective while killing everything that gets in my way?
I would say it really depends on how many events and side quests you miss, since they can give a ton of XP. On your alts I think it's quicker to do Bounties - I saved up the Stones while levelling and dumped 'em all into Nephalem Rifts @ 70.