I do wish I had a ground vehicle yeah.
I spent five hours exploring Nesoi where my house is yesterday, largely so long because there were a few unique biomes to check out and then I happened on a random quest that had interesting stories and voiced lore snippets and things, and took me some time to complete. Also hooked into another off world quest that I'm not done yet but has been really fun.
I would put it on a very similar level to NMS, in that the world does get samey after a while... But there are biomes on the planet, so at least I can find mountains and deserts and things. Looking forward to whatever mods or dlc increase the baseline biodiversity on lush worlds but I think five hours contendedly exploring a single planet is a pretty good stat at launch to be honest. Plus the quests are actually fun and good and there's combat with more than one kind of enemy.
Any Bethesda game is essentially a mod vehicle with an RPG tacked on anyway. I think it's entirely on brand that they didn't go all in on hard sci fi for vanilla. I don't think that's incompatible with having a lot of planets that are mostly barren filler; I'm never going to explore 1000 detailed planets, and rescuing someone from a crash on a barren moon or finding a smuggler base on a frozen rock helps to keep the more interesting places feeling cool. There are still more interesting planets than I'm likely to ever get through.