Do I need to pass the story? (Kingdom Come: Deliverance)

hi,probably a stupid question,but is it necessary immediately to pass the story?
now I have the task to find the lame thief in užice,but I wanted to do other quests and do other things to work out
with this quest, nothing happens if it just not go?)
just like the game is famous for its realism,and had a bad experience when I thought the centurion Bernard will have to wait for me all you want,and he took it and sped away)