In our group we love to narrate and are 90% of the time in character and rarely out of character as players. We have found that we explain the setup in character and those setting scene moments. An example of this from one of our sessions:
Crew is infiltrating a warehouse where some black market items are stored but also our target is located (we are assassins). Two of the characters are sneaking in one way, my character Minerva (Samaat playbook) is running interference and entering from the other end of the warehouse. Darkness and mist of the light rain surround all and multiple guards pace back and forth on the outside and in.
“Minerva watches as her crew mates enter through a back window and heads around the front, still shrouded by the rain and fog of the night. Knowing the guards rounds and steps she pushes herself to become like water and situates herself to latch onto a guard as he walks through the puddles and into the building, his shift changing.”
Her position is risky and effect is great due to her ability and how she narrated her actions. Moving forward in the story she changes from water into a mist form, sneaking through the building and taking harm from maintaining the form but gaining position and effect for taking out the guards.
“The condensation being densest in this corridor it seems to rise and fall as the guard walks through.”
“I sneak up behind him then enter his lungs to suffocate him.”
She is a mist and is hidden, she had controlled position and extreme effect on this action, and crit in session. Might I add that I am not doing that scene justice as the RP was glorious.
We naturally include these steps without it hampering our RP and action scenes but it can take practice. As a GM in my campaign it took me asking 'How did so and so prepare or set up this action?" for a few sessions consistently for my players to catch on and add that information into how they did an action. It may be a table thing for you but asking and making this part of the mechanics normal the players will adjust. It may be a slight adjustment to get to where you all feel comfortable with it but once you do, you won’t really notice those as stopping the action, but adding to them.
Let me know if this helps!