“Procedurally generated worlds” sounds like it could provide nearly infinite exploration, but the reality is there’s like a dozen, maybe 20, archetype worlds, and procgen is little variations around them. There are some quests required to unlock access to certain world types (eg, protect from caustic atmosphere) or to access different levels of star system. There are radiant quest systems, if you care to, but they’re mostly optional. If you just want to skip from star to star, then fly/walk around its different planets, you don’t really need to engage with the quest system very much.

I tend to do enough quests to unlock most of the gear, build one main base, then little mining/teleport stations at one of each resource type. Then get bored and move on until I think I’ve forgotten enough that replaying will be fun. From your list of preferences, there’s no exploration like Morrowind or PoE, with some magic hidden behind a corner. Wait for NMS to go on sale: you can pretty regularly find it under $30, and I think the early phase of exploration, before you start recognizing the archetypes, will be that much fun.