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A lot of people used the site icarusintel. I still do.
Someone started a different site (I can't remember it's name), which isn't wrong.... it's just not complete. Icarusintel I have never seen to be wrong. But there's a lot of stuff missing from the new one. You'll be staring right at in on screen, and it won't be on the new site.
On icarusintel, there's a blue stripe on the left side of the screen. Click on that to open up a control panel. Choose the map, and it will change to that map. You can filter what shows (it's a funnel icon, something like 2nd or 3rd from the top). It shows MUCH more then just caves.
Icarusintel notes the general size of the cave, approximate number of nodes, whether it has worms or not (some cave do not have worms), and other misc trivia about the cave.
The only thing it doesn't really document is that on prometheus, the distribution of the ores is not random, and certain ores only really show up in certain biomes. Like you need to go to the lava biome caves to really find titanium and platinum in any great quantity. Gold is more like in the southern arctic biome, etc.
https://www.icarusintel.com/
I was wondering if there were any caves without worms. As I can not seem to get past them yet.
There's a chance you've been walking right by the caves without realizing that. Use 3rd party sites which show maps with cave locations, or build the cave scanner.