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A cave is shelter and most are full of iron and marrow root. So you can harvest those if you need them while in shelter.
it's exploration for the sake of exploration. to see what is there. not because there is a prize there. The reward is the exploration in and of itself. If that doesn't appeal to you, then exploration probably isn't your thing unless its an easter egg hunt. I wouldn't be opposed to having easter egg hunt type things in the game, but at least for now exploration in NMS is done for the sake of exploration.
TLDR: Yes caves are worth exploring, IF you are interested in pure exploration.
I have found stuff on ground caves I rarely came (or never may be even more precise) in open world.
I found naturally formed Albumen pearls in caves (or cave "terrain", because it was open ground, but with marrow bulbs) I found vortex cubes NOT on a pedestal in caves (if it was what you called "cube things", they are somewhat not so common, and can turn to be usefull in some techs buiding use, once you get the blueprint.
https://nomanssky.gamepedia.com/Beam_Impact_Theta
So selling them for what they worth was maybe... sort of a "mistake" ? (not an overly dramatic one I mean... but hey ;-) I try to add some drama there )
So while it's not an abslute necessity to go in them, I indeed had some fun (as long as there are no critters in them)exploring along them, and when I get bored, I simply use my terrain manipluator to get out if I'm lost
But I agree that it would be nice if we can find something inside the caves, encouraging us to explore more aside just providing a beautiful view of csve interior.
It would be cool if you would ocasionally run into something special, like a treasure chest, hidden monolith or old artifacts.
I did manage to drown in a water-filled cave once. That was back at initial launch when I was a newbee. Found about the grenade laucher and never had a problem since.
It's quite fun to drive the Roamer or Nomad through caves, can do loop da loops with the nomad.
oooo never done that, i will have to try it.
I have yet to encounter that as all the creatures I have needed to scan have never been inside a cave
You imagine a cave as a place that is enclosed underground. and that's right. In the game ofc you have that, no issues there.
But there are also "caves" that are NOT enclosed in the game. The way to realize that ? When you have marrow bulb, they are supposed to be a "cave" thing and when you look at the terrain color it's very often a different color as the regular ground. Also you have minerals that have a certain shape that are only "cave" minerals.
So when you are in the open, and you spot marrow bulbs + those hexagonal tall minerals, it's a "cave"...
Thus so many times in those open "caves" you get the same critters than the ones you should usually have mostly in caves.
https://nomanssky.gamepedia.com/Fauna#Ecosystems
This is why sometimes (if not often depending of the planets) you don't even need to really explore caves to get those Subterranean animals, and they spawn in the "open caves"
I have found every creature on every planet I have landed on (I never leave a planet without doing so) and I have stil yet to find a creature in a cave regardless of the definition. It must just be the planets I have found had no creatures in a cave.
I don't have many photos, but here's one interesting fellow I found in a cave:
https://steamcommunity.com/sharedfiles/filedetails/?id=1360095050
Like BonPadre mentions, I do think some animals spawn depending on terrian, regardless of whether it's "underground" or not. Sometimes I'll find cave animals running around the mouths of caves where that cave type of terrain extends without land being overhead.
It's also a good place to grind for iron - which is doled out in small amounts in Survival and Permadeath modes, without too much trouble from sentinels.
It's always helpful to have a terrain manipulator installed in case I get lost and/or need a quick exit to the surface.