Even with the gates this is a show where getting from the ring gate to the inner planets of a system takes weeks or months, so this was never going to be a 'planet of the week' type show. When the show did take time to explore an alien planet in season 4 plenty of fans also bitched that the plot there felt disconnected from everything else.
Personally I find it fascinating how the show focuses on how the fallout of the huge discovery of the ring gates, and how their existence basically makes the way of live of two civilizations moot (Mars and the Belters). The entire culture of Mars is this generations-spanning project of terraforming the planet, that you work towards even when it realistically won't be completed in your lifetime. Except whoops, there's a shitload of earth-like planets out there you can just go grab one.