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After JY is complete, you get access to TNT from vendors and can explore a truly huge number of maps. The quests also expand, as you can pick up offering from Rail Crossing, Camp Halthor (sp?), the Foundry, and Core City. I haven't finished the game yet, so there may be other settlements that offer quests as well once JY is done. Oh, and SGS will have a few sidequests once JY is complete as well.
Most of the "main quests" are more like an objective with you left to figure out how to get the macguffin and do it whichever way suits your character.
However the whole gameworld is quite large and left for you to explore. If you hit an area you feel is above your level, you can leave it be or try to sneak in and get some oddities if you're up for it. You can also attack smaller groups of enemies when it's possible.
Side quests are mostly found by picking up on rumours or talking to one or more NPCs. However, once you do the drill bit quest, more areas of the game will open up (new stations with new neighbouring areas) and you'll be able to clear those rocky cave-ins that are blocking your path.
Exploration itself is almost a side quest. It's not written down in the notepad and the rewards vary, but it's possible to go on foot (or via transport) nearly everywhere. Aside main objectives, i wasn't told to go and explore caves or paths, i just kept trying different map exits until i got a nice haul or hit a dead end or needed to go back "home". It's normal to find parts that are filled with tough enemies, and it's not neccessarily part of a future quest. Just a tough encounter but with possibly shiny loot once you can kill the pests.
Also: This game's linear only for the first act, and it's actually kind of a blessing. You can go exploring but you won't get too deep into stuff, so you can get used to how the world of the game works. You're fine to explore everywhere you can possibly get to by the way, so don't be afraid to wander to random areas or go well off the beaten path to find enemies to fight and loot to take.
Once you return the drill part from Depot A, the whole game opens up, and you'll have a lot of freedom with where to go and what to do.