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From now a x/y/z rocket will be the number of cargo/fuel/lox in that order.
There are 3 great rocket types that fit the same size as your original steam rocket:
A 3/1/1 rocket can reach the 20k planets and really clear them quickly.
A 2/2/1 rocket can reach 90k and if you are lucky bring in some high value materials quickly.
A 1/3/1 rocket can reach 170k. This is "the optimum size of the rocket to reach the furthest stars".
Going up to 6 modules a 2/3/1 can reach 120k. It is very likely that you have at least some valuable planets in this range. A 3/2/1 is good for 50k. With these 5 rocket types you should be able to do anything so 6 module spaces is all you really need.
It is possible to build a 2/4/2 rocket to reach 130k with 2 cargo bays (one distance further than previously mentioned) but check your starmap first if there actually is something valuable there that you need to have 2 cargo bays for. A 1/4/2 rocket would reach 190k with a cargo bay, but I don't know if that is ever needed as it seems 170k is the end of normal planets.
To reach the *spoiler* you don't need to bring cargo bays, so the size needed isn't actually that great.
In summary the optimum size to reach the most distant stars is 5. 6 modules will be enough to reach a variety of distances with optimum cargo size. That's 6 modules in addition to the engine and command capsule, so 8 in total which is 8*5=40 tiles. The only exception is if your best planets happen to be exactly at 130k where you may want an 8 module rocket (+engine and CC) totaling 50 tiles.
Using Hedning's description, you can do a 5/0/0 steam rocket to 10K or a 5/0/0 steam rocket to 20K using a solid fuel booster.
After that, with petrol engines, you can get up to 80K using 5/3/1, which is 8 modules plus engines and command capsule; 10 * 5 = 50 tiles of height.
With hydrogen engines, you can get up to 130K when carrying 5 research modules, again using a 5/3/1 setup needing 50 tiles of height.
Once I send research rockets to every target and finish researching all technologies, the only thing left for me to do is send a final rocket to REDACTED and then start a new colony. Other people like to play for a thousand cycles and more, so focusing more on the smaller cargo rockets is reasonable for them.
Likewise, it wouldn't have occurred to me that someone would not try to research everything on a starmap target, to try and optimize the materials being returned by cargo rockets. Aren't you more interested in getting a kg of fullerene and 999kg of coal or iron or whatever rather than 1000kg of coal and no fullerene?
https://oni-assistant.com/tools/rocketcalculator
But if you can get lucky sometimes, I can see why you'd not want to dilute a full cargo hold worth of a rare material....
Since you don't need to visit many planets to get enough data banks you can retire your science rockets fairly early. The only thing you might miss by not fully researching a planet are vascillator charges.