There are all kinds of possibilities, and for one example of a video game system for travelling among the stars that gives you a sense of actually going somewhere without getting too dull I'd point to EVE. You can go anywhere, but there are distant and dangerous places that take actual effort to get to. It lets you get some kind of sense of the distances involved. Having made that comparison it's hard to avoid noticing that the space combat (even against NPCs) and ship outfitting are quite good too compared to how it looks in Starfield. Planetary interaction was pretty tedious when I played it, but EVE is mostly really good at the space stuff.

Another example would be good old Star Control II, another of my favourite space games. Another one that managed to make space feel big. You had to carefully manage fuel and resources, and if you wanted to go all the way across the map you'd have a long and interesting journey during which many things would happen. Combat and navigation were primitive compared to what people expect today, but still it made it feel like you were exploring a vast space, not just a big catalogue of planets.

As for Starfield, I don't know whether it does that or not since I haven't played it yet; I'd sort of like to find out before I spend $ on it.