Once you have Bots and all things automated to build assembling machines run by bot logistic automated you can leave. You can then build everything remotely. But's i a good idea to have the base in a "healthy" state and able to provide you with some extra resources in the beginning. For that you of course need a ship/platform that can reliable travel between nauvis and the first planets. That ship can also take you back once have built a rocket silo on the new planet.