I believe that in the guild, there should be a section for RPers to make requests; these requests should not be worth any exploration points, and money should be transferred from one player to the team that accepts. While this would have no REAL use, seeing as through roleplaying you could have people doing requests for each other anyway, it could have a plot based use for characters. Eg: Say that Alice gets trapped in a cavern or something, so Bob goes to the guild to get help. In the IC request board, he posts his info and rewards, and should somebody accept he is able to have that team RP helping Alice. Or something.
Or maybe someone would like to go through the serene cave, but is too low a level to go through alone. So, (s)he travels to the guild, requests an escort and goes through with the team.