There are definitely very clever ways you can world-build without hitting your readers over the head with it.
In one of my recent (patreon only) chapters, I had this situation where the main cast met up with a nomadic tribe that go around living in tipis-style tents. Only, it's made very clear the tipis are only for the women and children, while the men sleep outside. At a later point, an aspect of their culture is made incredibly clear when the main cast wants to have a private conversation about an important issue, and so they try to go into the tent. All the tribes-men start hooting and hollering in obvious amusement, and it is made clear that the reason is because the men are going into the same tent that the women are also going into.
They all realize their blunder and decide to abandon this course of action and go off into the field a bit for their talk instead.
That's a rather stand-out point in world building that leaves an impression, but there are also many other smaller examples of little peculiar things that I have the people from the tribe doing that I describe in detail accompanied by the action as it's happening. In this way, I simultaneously progress the story while also building the daily practices of this tribal culture. And, in building the tribal culture, every practice is somehow related to the nature of the wider world as well. So, it also serves as building blocks for the world building too.
This is the advantage of proper in-depth world building. When you really stop to consider every single little detail about how one group of people interacts with the other, and how they interact with the wider world, and how they interact with the peculiar nature of the magic systems in the world itself, then you can start building your world one building block at a time. Every single chapter of your story can contain several lines of world building, with not a single word of it being exposition. Rather, just the standard description of your characters' actions becomes a small piece of world building, which adds up with several other similar actions to paint a wide and expansive tapestry of a thoroughly developed world.