To be honest I never found the procedural generation in No Man’s Sky good either.
It’s a better game by far, but once you have been exploring a few systems you often start finding repetitive content there as well. But there’s definitely more variety than Starfield and it’s mostly seamless too. And NMS came out about 7 years before Starfield.
I think the biggest issue is Bethesda clinging on to their engine for dear life like it’s their precious baby, and they’re keeping it on life-support with minimal updates.