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The map both changes, and stays the same.
To explain:
From what I've seen, the orientation and relative sizes of certain star constellations remain the same. Their placement relative to each other may vary, depending on re-rolling.
For example, I just concluded another playthrough, and didn't encounter either of the interstellar Void Stalker or the Hello World! events until after the main quest line was completed.
The exact placement of the Talonian Ring World definitely changes, since it's a relatively small map piece consisting of one star and a surrounding nebula.
If you take by contrast the Beyond the Gateway constellation of stars, it always appears to be the same five star systems connected by Flingers, with two accessory stars separated by short distances, and two Gateways total location relative to Celaeno each playthrough. That's a bigger map piece, so not as easy to shuffle around relative to other pieces like with the above.
The larger 'constellations' linked by Flingers which include, for example, the Aquarian or Island traders may be more static than the above.
That's no specific help to you early in the game, since (given your power constraints and engine technology) you're not likely to be able to just compare galactic maps A and B, pick a destination for a specific encounter / specific race, and expect to end up where you want to be. Being off by 20% can result in wasted dozens of minutes, and still not guarantee you the ability to get back to base.
The exact ordering of random encounters varies per system (unless it's plot-specific or requires specific criteria).
So, to summarize:
The author has randomized the content where it can be random, and kept it linear where it needs to be linear.
I think in a separate thread re. Wiskamug I'd done a rough calculation of how wide the 'galaxy of local interest' is, and to the extent that you may encounter some of the truly random missions anywhere in that radius, feel free to scout out the whole galaxy as far out as you like :)
However, I think if you follow the in-game log entries, hints, etc. the game does a very good job of keeping you oriented and capable of exploring the whole map, as well as advancing the main plot with the option to stop and grind for a bit :)