Not quite. My understanding based on some significant analysis back when Explore first came out:
- A Quest or Challenge team is selected from the Explore Kingdom
- 1 Troop is always replaced by a Troop of any rarity from the event pool or a Mythic Troop you own.
Many quests use troops from completely different Kingdoms, so you don’t always get Troops from the Explore Kingdom in an Explore.
Because the teams are always based on a Quest or Challenge team, it’s possible to analyse which Kingdoms have the highest probability of a type of troop, e.g. green troops, Elves, etc.