Exploration becomes more productive when every trip has a reason behind it, even if that reason is simply discovery.
Give the trip one main objective
A clear reason makes route, inventory and upgrade decisions easier.
Check travel readiness before leaving
Basic movement and survival supplies should not become emergency problems mid-trip.
Leave room for discoveries
A full inventory limits the value of unexpected finds.
Return when the trip has produced a clear gain
Convert discoveries into upgrades, credits or storage before wandering indefinitely.