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A lot of players use website that show maps with important locations on them. There are several sites, but I still like to use icarusintel. It can show the locations of all caves on each map, with descriptions of how big they are, approximately how many mining nodes, and the dangers inside (caveworms, etc).
You can also find deep mining veins for a variety of different resources. They're spread around the map at random, both inside caves and outside on the regular map. You need to build special equipment that you install on top of them, but deep veins are endless resources.
As a side note, if you truly want to be save in a cave, don't mine out an entrance at ground level. Put down a ramp, go up to the top, and start mining above ground. Use another ramp tilted down to get down inside the cave.
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https://steamcommunity.com/app/1149460/eventcomments/4409668685901316214/?ctp=4#c4409669422407137165
{ 2.1) All Maps with caves https://www.icarusintel.com/
Ore Occurrence Frequency Olympus + Styx (approx.)
Platinum: 5.38%; Titanium: 5.38%; Iron: 53.76%; Gold: 4.30%; Copper: 16.13%; Aluminum: 4.30%; Coal: 10.75%
Prometheus has its own frequency of occurrence
https://icarus.fandom.com/wiki/Prometheus
https://icarus.fandom.com/wiki/Prometheus?file=Pro_Voxels.jpg
Creature spawning prevention exploit?