I think practice shows this isn't true, Minecraft is pure procedural generation and people love wandering through Minecraft worlds.
I haven't played Starfield, but based on what you said the difference is in the complexity and amount of stuff, in Minecraft you don't have to go far to find more new things. Even if you're very familiar with the game you can still come across very unique areas, it's rare that I feel like I wasted my time by just wandering around a map.
Additionally Minecraft solves the story problem by simply not having one, which works fine for the kind of game Minecraft is, probably not so much for Starfield.