If a character needs two hands to hold a weapon (e.g. Heavy Crossbow), can they cast the Mage Hand cantrip to carry a torch for them since the torch weighs less than 10 pounds? I'm specifically concerned about the ability to "renew" Mage Hand every minute out of combat to insure the torch isn't dropped. While exploring dark places, would they be able to act normally and interact with the environment while moving the Mage Hand so it keeps the torch at their side? The assumption during combat is that the Mage Hand would remain stationary while the character is fighting, therefore not consuming any actions.
To summarize, can Mage Hand be maintained and moved continuously to carry a torch out of combat without dropping it and without preventing the character from moving & interacting with the environment normally?