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To track how much is remaining you can check the upper left <?>"Archive" tab in R&D.
Nothing is lost though. Each reading will only have so much. Transmitting is good if you don't plan to return and just are sending out "probes" for data.
Antenna is also needed for AI control so even with top tier stuff a signal to kerbin may be weak on the outer edges of the solar system.
The need for relays can be reduced by bumping up the ranges in game settings.
Each upgrade to the Tracking Station building expands range.
https://steamcommunity.com/sharedfiles/filedetails/?id=2758164301
https://steamcommunity.com/sharedfiles/filedetails/?id=2488439186
It's much easier to send stuff to a planet with no plans to return it to Kerbin.
Kerbals are expensive and need to return home sometime...
A tip that I've found useful is to put 4 decent relays around any planet you're going to need them on as far out as possible, 90 degrees(ish) from each other with the same orbital period. That will make it less likely that they will bunch up with a lot of time warping. For example, my current set of relays around Kerbin are at an Ap/Pe of 75Mm with an orbital period of 101d 4h 30m 0s, and they haven't drifted at all so far.
So I personally find it hard to consider them more for one way use.
If you have Satellite Relays you only need like a 2G Direct Antenna on your probes and science stations, thus reducing weight.
I've uploaded thousands of science in a single trip from the Mobile Processing Lab MPL-LG-2. You can convert science to credits once you max it out. Yes its very useful.
https://ibb.co/fF3054m
Dropped that little guy off on Eve for 200k.
I can pop on over to the tracking station and drive around whenever.