Can I explore topics based on my personal goals?

Yes, inside the structure of whichever program you’re in. The sequence isn’t arbitrary — it’s designed to build skills in an order that works — but the projects you build, the problems you tackle, and the directions you dig into are driven by what you care about. “Fully flexible” would be a lie; “rigidly scripted” would also be a lie. The honest version: the path is set, and what you do on the path is yours.