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I haven’t played it yet (A second play through of BG3 sounds more appealing right now), but in general for an singleplayer RPG I would prefer a small full setting to an empty large one. If the environment has almost nothing of interest in it, then I’m going to just be glued to the objective marker, which while not a deal breaker, definitely hurts the experience. In a more curated environment I would ignore the objective marker and go off in a random direction. This means my experience is more unique and gives a proper sense of exploration which can make the game feel bigger even though it is technically smaller.
Yout have to factor in the life sim-element of Bethesda RPGs too. You can theoretically become a mining magnate in Starfield using those planets and resource extraction outposts. That content is there for those kind of players. If you just want to do the directed side content, then as you say, you’d just follow the markets and not need to interact with it. Your exploration will be in the “dungeons” looking about for lore and loot.