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I believe trees are the only thing that don't respawn.
I've pickaxed rocks halfway and they seem to be whole again when I quit and jump in again later.
Same with ores and oxilite.
For ores there are also deep drill nodes that are infinite from what I read.
Hope this helps.
Resources don't respawn, ores are replenished through the Tier 4 Device known as a thumper, and it spawns enemies and a boss when you use it.
If you'd like you can join my open world on Olympus and I give you a tutorial.
Ore (be careful here, boss)
https://icarus.fandom.com/wiki/Prototype_Thumper
https://icarus.fandom.com/wiki/Deep_Mining_Ore_Deposit
But here's what happens with resources:
Regular deposits on the surface like surlfur, oxite, salt, etc don't respawn. At least they're not supposed too. But I see things like sulfur and oxite respawn sometimes.
Stone boulders will respawn continually. Even ones 10 feet from your base. Free stone forever.
Big trees do not respawn.
Tiny little saplings do respawn, but only the ones that give you wood sticks, not logs. The small saplings are considered ground clutter, like the bushes. And ground clutter respawns all the time.
In caves, the regular ores do not respawn. But there are so many caves on the maps that you can simply just keep going to new ones and stripping them bare, even in open world. There's a device that can respawn ores (called a thumper), but it summons a boss monster. If you set it off near your base, well... not good. I have a high level tier 4 base in open world with all the doodads, and I have NEVER had to use a thumper yet.
Sometimes in caves, you will find small boulders of exotics that give approximately 30 exotics (actual amount varies on tier of pick used). Those can respawn, but they re-appear in a random cave when harvested.
There are endless deposits called deep veins. You need to build special drills to extract resources from them. There are deep veins for all kinds of resources: metals, non-metals, etc. There's even a super rare one for stone (when you reach a certain point, running around mining individual boulders gets really boring). The highest tier of electric deep vein drills will store 1000 resources.
The deep veins are the serious way to manage resources long term.