Playing the game again now and I'm 100% reinforced in my opinion that this should have been a regular FPS. The open world stuff drags it down.
The main problem with Starfield is precisely that it isn't Open World, instead offering empty procedurally-generated environments with at best 3 or 4 type of alien fauna to shoot at and generally not even that. Bethesda gutted the ludic model established by Morrowind and had nothing worthwhile to replace it with. Rather than attempting to substitute procedural blandness for hand-crafted content, Bethesda should have set out to create ten or so habitable planets, each of which would offer a sizable Open World area in the style of Morrowind, Oblivion, Fallout 3, Skyrim, and Fallout 4 (though less dense with content, to make them somewhat more realistic for the setting), but without attempting to actually simulate an entire planet. The game could still have occasionally directed the player to lifeless rocks, but these would be detours from the main action in the true, populated Open World environments. These would have offered the same kind of exploration as in Bethesda's previous Open World RPGs, with similar hand-crafted settlements and dungeon-substitutes, and a variety of enemies rather than fighting the same spacers over and over again.