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How about other games like No Man's Sky or The Outer Worlds?
The store page makes some... far-fetched claims. That said, it does a lot of what you want.
There's also No Man's Sky which is on your two feet exploration and base building but no workers.
But no idea if it works on mac
Stellaris isn't a space exploration game, it is a 4x trying desperately to be grand strategy, so this one is definitely NOT for you.
If you are going to do this, make sure you set the sliders for maximum pre sapients and consider adding in the two Fatherland mods, which will automatically send out "private autonomous" settlers to new worlds outside your empire that you can interact with later in the game.
That's what OP is looking for, pure exploration and resource gathering.