Hmm, buck naked and screaming back in? If there are complications that is what doctors are for! That’s about how I send them out early game. ;) I avoid having the traits for either a poor immune system, or the increased bladder frequency on those dupes.
I play survival but on normal settings there. Germs aren’t too bad now (there was a time in alpha). The swamp, ice, salt and hotter metal biomes are fine to poke in for exploration. You are going to want to get atmo suits though for the biomes further out, and to protect them if working around a hot vent. Though I may send them to a steam vent right next to my base before atmo suits because I need to contain it now due to heat and just rotate them through triage cots.
I tent to keep the dig/ladder out fairly simple to avoid pathing issues. Though I think some of the worst ones are now fixed.
Later use tubes, and atmo suits. They go potty in them. Its not pretty.