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Provided you bring enough storage with you, you could have one Kerbal collecting data from 100 satellite experiments (you get more science points for returning experiments instead of transmitting them).
Put a sat in orbit, congratulations, any "recover or transmit science from space around..." mission now means free credits. Add a relay antenna and you have another relay. Either way you'll likely leave the sat there forever.
It is more about controlling the job AI than anything else.
Also the first time out to the other planets I had no idea what to expect there or how to build a ship for landing a crew. All I knew was what I took as readings when I got there and observations of orbit etc to judge how to build a lander. Had some of the most exciting moments in the game finding out if my plans were enough or not ha ha. Never used a guide or looked anything up online so all I had was what I could glean from going there.
2. no need to launch new missions every time you receive the transmit science contract
While I totally agree... Relays only really serve a purpose if you're using satellites.
You know what, I'm just going to go ahead and start a new game running manned missions and skip relays... For science!
It's true, though, that the former tends to be more important because for science transmission you can usually just wait until your orbit or planetary rotation takes you back into a position where you can transmit.
A side advantage of relays is that they may let you use small antennas on other vessels. If you've got a couple large relay antennas around Eve or Duna, then your landers can use the smallest antennas, because those antennas only need to reach from the ground to the relay. (If you want to ensure total uptime, you could have a constellation of little short-range relays that bridge from anywhere on the surface to the long-range interplanetary relays. Still need two of the big relays for full uptime...unless you've got big relays around enough different planets, in which case you might be safe with just the one.)