Is their a compromise between using the categoriesID of the search endpoint and the extended information given from the explore endpoint. I seem to be having issues querying specified venues queried using their categories ID and also having an extended list of information regarding the venue
In order to associate venues you filtered with categoryId in search with their detail information (like tags, tips, photos, etc), I recommend you make a second call to the venue detail endpoint.
Yes, this means you would have to do one request to venue detail per resulting venue filtered in search.
Foursquare does not match these two together for you.