Oh, absolutely - the world-building and lore is very impressive given the scope of the game and especially since this is a new IP.
I do agree that the game is oddly sanitized but then this is something you could equally apply to Fallout 3 and Skyrim - Bethesda are happy to portray violence and drugs but seem to be very restrained when it comes to the actual storytelling - I'm not sure why, since invariably their games will always get a mature rating (due to the aforementioned violence/drugs) - it wasn't until New Vegas (Obsidian) that you could have casual sex in a Bethesda game and Starfield's approach to relationships is oddly quaint even in comparison to that.
I also feel the whole 'NASA-punk' thing is a bit anachronistic - I like the look of the ships and the spacesuits but it doesn't sit well against the stylings of the cities (or the everyday clothing which is a bit random to say the least) - all these different artistic choices kind of work against each of instead of feeling coherent. I saw someone complain that the Freestar Collective as a technological, spacefaring society shouldn't have dirt streets in Akila City and, of course, they're right - but clearly Bethesda wanted a 'frontier' look for Akila and whilst it doesn't make any logical sense, I do appreciate the different feel you get from wandering around there - sometimes you have to remember that it's a game
I really liked the lore though - especially the stuff about the colony wars which is very nicely presented in the UC Vanguard questline and is further touched upon throughout the game in NPC conversations, audio logs and datapads. Wandering around the '1-of-a-kind' salvage yard and seeing the mechs (and Xenoweapons) that were used in the Colony War was neat too. The only thing I felt was a bit under-cooked was the
Va'ruun - they seem to be Starfield's 'Romulans' and I'd have liked a bit more info about how their serpent-worshipping religion came about and that was mostly left unexplored (perhaps they'll be more prominent in the DLC).