So far, Starfield is exactly like Skyrim in space to me. There's as many carefully crafted cities, and quite a few carefully crafted locales. There's just a lot more space in Starfield (estimated about 500x more. Skyrim is 15sq miles, and those 1000 planets are each a couple square miles ingame). Sounds like there may be less hand-crafted content in Starfield than Skyrim, but that's hard to tell.
I'm definitely not finding Starfield to be claustrophic. On the contrary, a bit agoraphobic.