It's kinda hard to respond to you with this when everyone else is arguing "they gave us Skyrim in space instead of innovating at all in the last 20 years". In fact, just looked back and that's the exact family of criticism I was responding to.

There is no adventure in Starfield because “space is empty, and boring” - Todd Howard.

Space is empty and boring but still has more hand-crafted (non-procedural) content than the entirety of Skyrim. New Atlantis is arguably as big as the 3 largest Skyrim cities combined. The main quest+faction dungeons are as big as the equivalents in Skyrim. The New London battlefield (for example) is pretty gorgeous and fairly massive.

There's a genuine argument that maybe we don't have enough "sprinkled in random places "quest starts that aren't radiant, considering it's only 50% more than Skyrim has but an dramatically larger universe. More quests that start like Mantis could go a long way, where you're nudged towards the quest regardless of proximity. BUT, saying "there is no adventure in Starfield" seems somewhat off to the actual facts of the game... that there's 50% more adventure in Starfield than Skyrim, but the map is 1000x larger.