Exploration becomes more productive when the trip has one primary purpose and the inventory is prepared to bring useful rewards home.
Choose one main objective
Resource gathering, exploration and team improvement require different preparation.
Bring team coverage that supports the trip
Avoid filling every slot with overlapping strengths if the route may demand different tasks.
Leave inventory space
A full loadout before departure reduces the value of everything you find.
Return once the objective is complete
Convert the trip into upgrades instead of stretching it until supplies or carrying capacity become a problem.