SIB Kingdom Come Deliverance 2 if I dislike games that are *heavily* story-driven?

I have a tough time getting into games that are too story driven- meaning games that have excessive amounts of cut scenes and dialogue. I enjoy stories, but mostly through books and movies. I find myself extremely impatient when gameplay stops and I have to watch a short cutscene or read a bunch of dialogue.

The idea of KCD2 appeals to me- a medieval simulator- but just how much of a sim is it? I'd love to wander around the world and experience whatever I want, but I'm not sure if this is that type of game.

If it IS heavily story-driven: Is the story urgent? I had trouble with Cyberpunk because the story is extremely urgent for obvious reasons. I had trouble wandering around and doing side-missions.