...and story, and roleplaying and everything else that makes my character feel as part of a social world, and not just a dungeon-raider who does things 'just because they are there'.
And you did say they were mindless drones:
You won't get much story from those quests. Stick to guild quests for that.
And how is that saying they are mindless. As I explained, they do what they're used to doing in other RPGs. TES is very different from almost anything out there, and it takes time to learn what it's all about.
The problem with this approach for me is that I role play my characters. Neither of my characters' personalities are compatible with this play style. One is kinda trying to prevent a dragon apocalypse, and the other is a no-nonsense scholar of dwemer architecture that would only randomly explore a dungeon if it is a dwemer ruin (but even then, she would usually just mark it on her map to explore later, as she is usually writing historical papers about specific ruins that she has read about or heard from, and deadlines prevent her from exploring any old ruin she comes across.
This is just a personal limitation, though. Playing in the style you advocate would greatly detract from my experience. I rarely play a character whose sole motivation is exploring.

I roleplay too. And because this is my style of TESing, I have to work an excuse into every character's background story to justify exploring every dungeon they come across. One character is a tomb raider in it for the plunder, another seeks to find worthy challengers so he can perfect his combat abilities, and another seeks long lost lore.
Your dwemer scholar has a very specific roleplay that is incompatible with this style, but as there are a quite limited number of dwemer ruins, you won't waste much time running to each one, and you won't be going back and forth over already explored terrain either.