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Again this comes down to heavy RNG where you can screw yourself over by finding pirates or getting exiles. Or just not come across any curiosities at all.
Exploration focus is completely valid on oversized maps. I myself find playing multiplayer on anything over medium unsustainable.
And why is having high curiosity detection good for major pops?
Relying on actually finding something else though is highly circumstantial. Even on normal minor faction count setting you can struggle to find some.
I considered scanning curiosities (again relying on there being some curiosities) and rolling the quest kinda obvious and possibly free move, however you run intro trouble when you get either completely unachievable quest (get adjacent system when there is only one and you already have it or something that will take 10 or 20+ turns like pre-patch "run two laws" - obv changing from dictatorship will take a while) and then influence wise depends on your contenders for said faction but endless AI will outproduce you influence wise and convert it sooner, so will most other factions.
Although the invasion can be wasteful regarding the loss of pop, it is still the fastest and 100% reliable way of obtaining it and complements the early militarist switch theme I bank on.