I have played Starfield.

The planets being mostly empty is fine. In fact, I think they're too full if anything. You're not meant to travel on the planet's surface for long. You explore a bit if you think you want to build an outpost there, but otherwise you just move on. Most of the "content" is in pre-built areas. Enemy encounters almost always take place in hand crafted facilities, and usually it'll be for some kind of quest so you land right near it.

The outpost system is where the procedural planets come in. You need to explore some to find the right spot to build with the resources you want. The content there is the building, not the planet. The landscape will effect it some, but mostly it's whatever you make of it.

That said, the outpost system fucking sucks right now. You have to send resources between outposts with "links", which take goods into a container and store them in linked containers. All solid goods go in one type, and the same for liquid, gas, and manufactured. I have all of my resources trickling into a main base, so I have all resources available there. This has caused my storage to back up and there's no way to filter out items you don't want. Then no resources can come in so you have to go to your storage and clear whatever is clogging it. There's also no way to delete items as far as I'm aware, so you just dump the excess resources on the ground where they'll remain forever. It's really stupid. This is my storage solution for now.

All the crates flow into the next one, so it's functionally one massive storage container, but with 15 seperate inventories I have to go through to get anything out. There's also no stairs object you can build, or anything like it, so I stacked cabinets into a sort of access staircase. It's really bad, but it's what works for now.

Just a tip if you start playing and build a main base, build it on a low gravity planet so you don't have as much of a problem if you stack stuff like this.