Was everyone who came out of Egypt guilty of provoking God?
No. Scripture indicates that some who heard provoked God, but not all who came out of Egypt by Moses. A remnant remained, specifically Joshua, Caleb, and a few others. The rest were grieved because they sinned in unbelief and did not believe they could take Canaan.
Les explains from Hebrews that the warning concerns an evil heart of unbelief. He cites verse 15: "Today if you will hear His voice, harden not your hearts, as they did in that provocation." Then he notes, "For some, when they had heard, did provoke, albeit not all that came out of Egypt by Moses. There was again a remnant, Joshua, and Caleb, and a few of the others." Les also highlights verse 17, where God was grieved forty years with those who sinned in unbelief, whose carcasses fell in the wilderness because they did not believe they could take Canaan. So not everyone was guilty; a faithful remnant, including Joshua and Caleb, did not provoke God in unbelief.
For some, when they had heard, did provoke: howbeit not all that came out of Egypt by Moses.