Always keep the three fundamental elements in mind:
What is the story of the scene?
A key thing to scene writing is knowing where you want to go. That’s the story.
It is okay, expected and desired to be surprised where a scene takes you.
Exploring is the point.
But when you know what the purpose of the scene is. you will have some way of deciding whether the discoveries are helpful, or pulling you away from what needs to happen.
The former is exciting and part of the fun. The latter dilutes your scene.