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Probes take time to arrive there. If you do not have the option to build surface outposts, then it is not prospected yet. OR all the spots are already claimed and you have nowhere to build, but that's probably not the case unless you were REALLY late to the race.
You don't need an orbital station to do it either. You can just send parts from earth or, even better, send a ship with an outpost construction kit there.