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Auto excavator + nano disintegrators is the best option in vanilla (until you get the late game laser borer or quarry). Even a really tall ore vein you can punch through 3m per nano. If you hit one of those completely ridiculous 100mil veins, you might want to drill a new shaft for -500, and use the existing one to plunder the big vein.
There's a popular mod that adds a Mk2 excavator, that tunnels through ores as well.
I've never tried a multi-lift approach: but such a design would be able to support additional mining ventures in between, and could potentially add throughput assuming the transition from cargo lifts didn't create a bottleneck.
You could also just hole punch the hell out of a quadrant and mine whatever the lift rails collide with, though that's probably not strategically going to get you the resources you need.
Have you scanned soft and hard resin?
ANother material you may need to scan is biomass which you'll find at about -500 and bellow.
Biomass is tier 2 fuel, needed to make hIeNERGYcOMPOSITEfUEL to run your laser borer
The "unknown material" for the quarry turns out to be sugalite crystal, that for the borer remains unknown so far. But I now have lifts (and power) down to -700, so exploring there will be easier.
5 blocks out from the the perimeter I place geo surveyors side by side. Only need about 2, 10+ for ease of use. Place solar panels on top to power them, then I use some way to mark low ore points. I leave the geo's in place so I don't have to write down information, or resurvey the spot. I go around the entire perimeter this way. Then take the lowest one, and build my shaft there. Any ore in the way gets nano'd, or I just use the build gun.
Just watch out for hiveminds. Their hard resin shells grow back after you nano them. They can be removed with explosives, once you have refined resin automated.
I.e. the idea is to bring power down and have the auto excavator clear as much as possible. Since power has already been brought down it is easy to place the recharger, and using Arther as extended battery makes removing blocking ore an acceptable task with super dig. (When the lifts gets to the ore, dig a quick alcove in the normal rock, go into it and dig from there, - i.e. only ride the lift up and down when you and Arther needs recharging.)
It’s a bit more tiresome below the cold caverns, as a single lift can’t go the entire, but by then you have several options to choose from.