Unknown as by definition it can do as it pleases: this means if you want it to go scout out that castle, it can flip you off and go take a nap. "the GM might determine that your familiar chooses its own tactics rather than performing your preferred action". In essence, you jump right to what it'd do if you left it alone for a minute and "animals follow their instincts".
So it pretty much depends on whether the DM wants your familiar to give you double the activities or not. I'd have a hard time getting upset if my corgi familiar found an interesting smell and went off to find out what it was or if my cat took a nap as I'm specifically NOT telling them what to do. It might be different if they spelled out what one could do, like actual intelligence, ability to plan, attention span, ect.
As to what I'd do if I was the DM: I'd let them use whatever abilities that specifically apply in exploration they took but past that, they'd do whatever that type of animal would do. So for instance, if you took Partner in Crime or Ambassador they work fine.
Yeah, It kinda does correspond with 2 actions per 12 seconds.But in my example of castle flyover, I wouldn't play it as real scouting. No seeking is done, it just flies over and reports what it saw in plain sight...it just gives you different angles of a far away view. It might give you some additional information and it might not (good ol' plot scouting)