Communication is numero uno, absolutely. I've never met someone who showed up in a brand new place and said "no, I don't need a map, I've been in a town before". Every partner has unique likes and curiosities and everyone involved is missing out if they aren't being explored!

And when there are so many different ways to do that communicating and plenty of ways to make it playful instead of instructional (or just do a teacher/student role play and hit both! ;) ) It sounds like you may into the more verbal camp, but I have post ideas for options about exploring aspects of a partner's sexual interests for those people out there that are a bit more quiet in the moment.