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Yes, create a vassal empire from any of your sectors, let it expand and colonize planets automatically for you, while you can take care of another part of the galaxy.
In this case, you can try playing tall or restart the game. Most likely you need to reconsider the civics and traits you have chosen for your empire and leaders. Those that increase the growth of science points and population work best. You can search for the latest popular builds.
Not really sure that's the actual problem you're having though. Not filling all planets in a large empire is normal with default growth settings. At some point, trying to grow internally becomes largely pointless due to the increasing cost of doing so. If you want efficiency, it's probably a good idea to start removing robot plants and gene clinics, and moving pops into jobs that improve your economy now instead of in 500 years when they're finally done growing a pop for you. Hyperspecialize every world for maximum efficiency, centralize your population on your best worlds, etc.
This works in the long term, if for some reason you want to avoid wars with your neighbors or slavery is prohibited in your empire. As we know in the current version of the game pop growth is capped by increasing the cost to produce pops based on how many pops you have at the moment. The larger the population in your empire, the more penalty to the pop growth rate you will receive. Temporarily removing inhabited planets from your empire by vassaling their sector reduces the overall population of your empire, and if the sectors you vassalize are low populated, it gives those new colonies starting bonus to growth from their extremely low total population. You can also build any supporting infrastructure on the planet that will become the capital of your future subordinate, such as gene clinics, robot factories or clone vats and urban areas to accelerate development of the colony even more. Your core worlds may be stagnant, but these frontier sectors could grow quickly.
And yes, ignore clerks if you're not focusing on research.
I would say they are not to useful and can get to where you have to many clerk jobs and way to much amenities. Their Trade production I guess could be argued but they do not make much per pop and it mostly just produces energy. There are definitely better ways to use your population.