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Edit: You can always go where you want, but you won't have most of the unlockable things like bases and exocraft as fast.
But, outside of the tutorial where you get the blueprints for warp fuel, you do not need to do the missions even if you did not select explore.
You can just go wherever you want at any point. In your star map just pick something other than the path to the next atlas station.
We can't go where we want though, we opened the galaxy map and it only let us go to the star system where the next mission takes place
edit, right click unbinds the map so u can look around. left click to focus a star, left click again to warp if able, and F will lock it in place making a waypoint if u need to hop a few times to get there.
One option is free explore.
There are different colours of stars, you can go to all the yellow stars by default but to go to any other colour you need the correct hyperdrive upgrade.
I've never paid any attention to the path unless I needed some info from guide.
Everyone's time can be different. If you don't get side-tracked maybe 16 hours? I've no idea. Not long. Youtube walk-throughs may give you a better hint.
What I would say though is all the Primary Missions lead you through and discover what you most need, when you need it. Which is far quicker than stumbling around hoping to collect every recipe or find stuff you need to progress.
Try to double up doing NPC and glyph finding missions for reputation, while focusing on the Primary Missions. Doing the Atlas missions will also complete a great chunk of the languages, which helps deciphering the correct answers at manufacturing buildings. That makes for quicker reward discoveries.
*I just realised this thread is nearly 12 months old! O.O
Only thing which is mandatory in 'Normal' mode is doing the tutorial missions, skip them and you will be in trouble. It takes 1 hour to go through them until you have the antimatter blueprint.
Another way not to bother with any missions is to start in Creative, but this is more a 'God' mode, not so interesting and challenging.