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Outside of vented seats, premium sound, and chilewich floor mats? Am I missing anything on making the upgrade? The floor mats are a mute point seeing as I am getting the all weather mats.
 

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Adventure has a power tonneau cover that rolls away and stores itself. Explore has a "manual" cover that you must physically lift yourself and it's 4 panels that you have to deal with putting somewhere if you want the bed open.

Adventure has "gear guard" which is two locking cables in the bed that let you lock around stuff like bikes or whatever. In addition to a little physical security, the cables and a camera that watches the bed will detect someone trying to mess with your stuff and Rivian will alert your phone. Explore does not have gear guard.

The Adventure has a much nicer audio system. The bluetooth speaker is included with Adventure -- unknown if Explore will have it, or not.

The interior materials are nicer in Adventure, compared to Explore. Real wood dash, and microfiber headliner, for example. Compass Yellow accents, as well. The floor mats are different, as you pointed out.

The Adventure has passenger lumbar adjustment. Explore does not.
 

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The Rivian online configurator gives a comprehensive comparison between these two packages. Follow the links within this FAQ (takes you to the configurator) and scroll the right side down and you should see the link that will pop up a comparison: What's included in the Explore Package? - Support Center - Rivian

Also, there are plenty of online sites that shows a comparison:
"Compare Rivian R1T Truck Explore vs Adventure vs Launch Edition"

"Compare Rivian R1S SUV Adventure vs Explore vs Launch Edition"

EVSpecifications - Comparison between 2022 Rivian R1T Explore and 2022 Rivian R1T Adventure
 
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