The simplest way to explore the environment to find a target and return to base

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What is the simplest way to autonomously explore the environment in a room avoiding obstacles, find a target (based on vision) and return at the original starting position? Detecting the target using vision is not necessary part of the question but I included it to explain the overall scope of the project. I have a working differential drive robot with a LIDAR sensor and a camera, so the question refers more to what is the best / simplest navigation stack I can use? I am going thru Navigation Stack tutorials but there are many options and I was hoping to get some practical advice Are there any good examples in python?