diff --git a/src/api/java/baritone/api/Settings.java b/src/api/java/baritone/api/Settings.java
index a4d352832..faf5413d7 100644
--- a/src/api/java/baritone/api/Settings.java
+++ b/src/api/java/baritone/api/Settings.java
@@ -610,6 +610,13 @@ public final class Settings {
      */
     public final Setting<Integer> exploreChunkSetMinimumSize = new Setting<>(10);
 
+    /**
+     * Attempt to maintain Y coordinate while exploring
+     * <p>
+     * -1 to disable
+     */
+    public final Setting<Integer> exploreMaintainY = new Setting<>(64);
+
     /**
      * Replant nether wart
      */
diff --git a/src/main/java/baritone/process/ExploreProcess.java b/src/main/java/baritone/process/ExploreProcess.java
index cfcd6336a..d3625f21b 100644
--- a/src/main/java/baritone/process/ExploreProcess.java
+++ b/src/main/java/baritone/process/ExploreProcess.java
@@ -22,6 +22,7 @@ import baritone.api.cache.ICachedWorld;
 import baritone.api.pathing.goals.Goal;
 import baritone.api.pathing.goals.GoalComposite;
 import baritone.api.pathing.goals.GoalXZ;
+import baritone.api.pathing.goals.GoalYLevel;
 import baritone.api.process.IExploreProcess;
 import baritone.api.process.PathingCommand;
 import baritone.api.process.PathingCommandType;
@@ -133,11 +134,25 @@ public class ExploreProcess extends BaritoneProcessHelper implements IExplorePro
                 }
             }
             if (centers.size() >= count) {
-                return centers.stream().map(pos -> new GoalXZ(pos.getX(), pos.getZ())).toArray(Goal[]::new);
+                return centers.stream().map(pos -> createGoal(pos.getX(), pos.getZ())).toArray(Goal[]::new);
             }
         }
     }
 
+    private static Goal createGoal(int x, int z) {
+        if (Baritone.settings().exploreMaintainY.value == -1) {
+            return new GoalXZ(x, z);
+        }
+        // don't use a goalblock because we still want isInGoal to return true if X and Z are correct
+        // we just want to try and maintain Y on the way there, not necessarily end at that specific Y
+        return new GoalXZ(x, z) {
+            @Override
+            public double heuristic(int x, int y, int z) {
+                return super.heuristic(x, y, z) + GoalYLevel.calculate(Baritone.settings().exploreMaintainY.value, y);
+            }
+        };
+    }
+
     private enum Status {
         EXPLORED, NOT_EXPLORED, UNKNOWN;
     }