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If you already have researched free warp movement, the fleet will also leave the starlanes (and travel across open space) if it is faster (generally movement across starlanes is faster, however) ... but before researching free warp movement, all travel is bound to starlanes.
The only time when you can only move to the next system is, when you explore unknown territory (and don't know yet, where a specific starlane leads to)
You cannot queue a sequence of waypoints, sadly, but you CAN force a ship to travel *directly to a destination, ignoring starlanes*, assuming you've researched off-lane travel, of course, via shift-right click.
While not exactly what you're requesting, this is quite useful in some possibly unintuitive ways. For example, when you get the minor faction assimilation mission to protect the experimental ship, just use shift-right click on a distant target; the ship will be invulnerable in off-lane travel the entire time =)! It's also handy for rescuing trapped scouts/other ships, caught behind enemy lines.
I guess you talk about targeting systems in unexplored areas? You need to explore first, what is usually working from one system to next one in the beginning (by right mouse click on a starlane - the part close to systems),
In case you have a visible connection (in case of free space travel tech you don't need) to target a system just right mouse click on it.
When having selected the fleet you can keep pressing right mouse button when hovering cursor around different systems. It shows the route and movement points by turns to reach your target. If you stop pressing right mouse button travel target is confirmed. To cancel route preview unclick somewhere outside of any possible target systems.