I'm a fan of the modern Bethesda RPG, having spent nearly 100 hours with Fallout 4 - which, for me, is a lot more time than I'm usually willing to give up. My fondest memories lie with Oblivion, because I think it captured exploration beautifully. I liked emerging from a big cave as a big nobody and striking out along a cobbled path, excited to go for a summer's walk. Skyrim abandoned Oblivion's warmth for your average fantasyland, but kept the great outdoors.
If I don't have an objective in Starfield, I sort of freeze over and don't really know where to turn. And even if I do, I perform a deep sigh and open up my menus and curl myself into a pinball, ready to get pinged around the innards of whatever can lies beyond the airlock in front of me. So far, Starfield's adventuring forces me indoors and it's a shame.