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Dig deep underground and funnel the liquid fuel to a big pool and make sure you have a quick way to getting back to the surface.
Or big a teleporter to beam back to your ship offload your fuel then teleport back and collect your teleportor module if you want to keep it.
You can always make a long path around a lot of ore. Then stand far enough away to mine a lot without collecting it. Then at the bottom of the path, mine and grab it along with everything else laying on the path you knocked down on the way back up.
Basically the strat is the same, although M.M. upgrades help significantly with your ability to mine quickly. Using whatever pickaxes or drills are available to you, if you haven't upgraded, can be better than the M.M. But those things don't stack, so I don't fault anyone for not holding on to them (especially when they don't sell for much, either).
Scout ahead for a sizable patch that's worth focusing on, and/or give yourself a mined clear route to run between patches. There's no reason you can't mine, beam up and fuel, go back and mine again. Load times teleporting are better than death.
Where you get the opportunity, exploit low gravity and just jump over the thing to head in the other direction, if you can't mine fast enough. You probably don't want to tunnel excessively and get caught in your narrow space. Look for natural caves and prioritize them.
If you really don't like fuel farming, get crew to increase fuel efficiency. It doesn't take terribly long before they break the game and give you -100% cost. Then you can travel anywhere for free.