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This question comes from an encounter in Pale Mountain so minor spoilers will follow.
On one encounter the monster 'notices the PCs unless the entire party is stealthy in their exploration.'
Is this to be taken literally? Is it useful to just say you're being stealthy even if you're not good at it? If it matters this creature has a perception of +13 so it is highly unlikely that a whole party could sneak by it.
The way I interpret perception is that if you are not actively trying to be stealthy and there is no physical barrier blocking vision even the most un-wise of beasts will immediately see you from miles and miles away. So yeah, if not travelling stealthy no perception check required.
True, I'm debating that part but more of the reverse. The adventure seems to state that it the PCs are being stealthy then they succeed. No die rolls or anything.
Exploration mode ends the moment players would have a chance of being detected, and encounter mode begins. When encounter mode begins, your sneaking characters roll stealth to determine initiative, and to see if they have been detected.
It sounds like that specific encounter does give the party an easy chance to slip past it if everyone puts in an effort to sneak.