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There are 2 relevant technologies. "Subspace Scanning" and "Subspace Streaming". The first one allows you to detect entry (and exit) points from your sector, while the second one allows you to travel.
Once researched, you will be able to spot out those entry points at the edge of your sector.
If you already researched, scouted the entire sector, but still cannot find a way out, it could be that you are playing on a single sector map (you pick this setting, when creating the game).