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You can have several small bases and/or a bigger main base.
I have finished both Campaign and Sandbox campaign and in both I have established a main base of operations.
Depends on what you want.
You can also just use small outposts later on for dumping inventory and quickly resting, then just fast travel back to your main base for storage and crafting. You just eat meals and sleep at the outposts before venturing out again, that way you recover the energy lost from fast travel.