
befahren
to travel on
To travel on a road, path, river, or another traffic route by vehicle or ship.
Diese Straße ist stark befahren, besonders im Berufsverkehr.
This road is heavily traveled, especially during rush hour.
to travel on / explore
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to travel on
To travel on a road, path, river, or another traffic route by vehicle or ship.
Diese Straße ist stark befahren, besonders im Berufsverkehr.
This road is heavily traveled, especially during rush hour.

to explore
In the technical language of mining or cave exploration, it means to enter and explore a mine, pit, or cave.
Nur erfahrene Höhlenforscher dürfen diese Gänge befahren.
Only experienced cave explorers are allowed to explore these passages.
'Befahren' is an inseparable verb with the prefix 'be-'. This prefix makes the verb transitive, so it always needs a direct accusative object without a preposition.
Man darf diesen Feldweg nicht mit dem Auto befahren.
You are not allowed to drive on this dirt road by car.
The past participle 'befahren' is very often used as an adjective to describe a road or path. A 'stark befahrene Straße' (heavily traveled road) is a road with a lot of traffic.
Wir wohnen an einer viel befahrenen Hauptstraße.
We live on a heavily traveled main road.
You can recognize the meaning 'erkunden' (to explore) from the context. It is used almost exclusively in connection with words like 'Höhle' (cave), 'Bergwerk' (mine), 'Stollen' (mining tunnel), or 'Grube' (pit).
Das alte Bergwerk wurde seit Jahrzehnten nicht mehr befahren.
The old mine had not been explored for decades.
In the meaning 'eine Höhle oder ein Bergwerk erkunden' (to explore a cave or mine), 'befahren' is technical language. It is used by miners, geologists, or cave explorers (speleologists).
Die Gruppe bereitete sich darauf vor, die neu entdeckte Höhle zu befahren.
The group prepared to explore the newly discovered cave.
to commit / to celebrate
Begehen refers to entering and walking through a place, making it clear that the movement is on foot. Befahren is a technical term used for mines and caves to mean entering and exploring them; no vehicle necessarily has to be used. In general usage, begehen is more suitable for walking through a place.

Vor der Öffnung befahren die Bergleute den alten Stollen zur Kontrolle.
Before it opens, the miners explore the old mine tunnel to inspect it.
Vor der Öffnung begehen die Fachleute den alten Stollen zu Fuß.
Before it opens, the experts walk through the old mine tunnel on foot.