The short answer is a p3 mask and common sense.
Sorry, but 'common sense' plays no part in dealing with the three asbestos killers - rigid rules; obeyed to the letter every time one enters premises thought to contain asbestos, is the only way to stay safe. Those of you who have read previous content by me on this subject, will know that in the 60's and 70's I worked for the BRB, at a time when we were removing tons of the bloody stuff from the railway system. We were often asked by the Property Board to state if properties were asbestos free - something one could never do, you would have to carefully dismantle the whole structure to be certain. Pedestrian walkway bridges between tall buildings were the favourite places to miss asbestos clad pipework, boxed in on the underside - without very costly access scaffold or machinery examination was impossible.
So our explorer will wander in off the street, put on his well used P3 mask and start to walk about the interior. After a good explore they walk back to the car, chuck the mask on the back seat and drive home to the wife, kids, family - who knows? All the time shedding asbestos fibres from their contaminated clothing, never mind what falls off the mask into the interior of their vehicle. I care not one jot if explorers want to give yourselves an excruciating death in 30 odd years time, but I do care deeply about their innocent family members and contacts! My workmate and Eastern Region asbestos expert died of Mesothelioma and somehow contaminated his wife, who also died - and the situation that occurred in Armley, Leeds should leave one in no doubt of the dangers of fibre contamination carryover occurring well away from the original site.
Wear a disposable coverall in situations that are clearly marked as dangerous - if you must explore - and mask. Remove mask and coverall in the open air and place in a nylon bag, well sealed before placing in the rear of vehicle. Most importantly clean and wash the face piece of the mask after use, You would be very surprised to see what adheres to the outside of the mask, when examined under a microscope. Please stay safe!