For clarification, one of the reasons I want to know where no one has been yet is potential for things like first contact with another spacefaring species, or the discovery of really weird anomalies.
First contact with a new species ...

... we Solomani have been occupying our homeworld for millennia already (in the real world), with documented history going back CENTURIES of exploration and research ... and we're STILL nowhere NEAR close to cataloging all of the life forms on the Solomani homeworld!
Sure, we've found the "obvious" ones that we interact with frequently, but every single year ... the more we look, the more we find.
And that's not even including the "incompleteness" of our understanding of the planetary fossil record for what lived here BEFORE but is no longer alive today (see: Dinosaur Bone Fossils as one example).
Now ... first contact with another spacefaring species, that "discovered" spacecraft technologies independently and is in the process of becoming a multi-planet species (so, pre-jump technology here, minor race stuff) ... those are exceptionally unlikely to be found.
Unless ...

... you're talking about some sort of "time capsule" type outpost installation that has members of an alien species "in stasis" waiting to be found. Note that this also (technically) includes a mildly famous
Ridley Scott directed movie that was first released into theaters in 1979 ...
or the discovery of really weird anomalies.
This does not require ANYTHING SPECIAL as a pre-requisite.
Really weird anomalies are "easiest" to handle as sub-light objects passing through ANY star system on a hyperbolic orbital trajectory ... so think
Interstellar Object type stuff.
Don't forget that in 60s Star Trek, multiple stories involved "stuff" coming IN FROM OUTSIDE ... including
The Doomsday Machine and
The Immunity Syndrome (among others). My point being that you don't always have to "send" your PCs "out" to find anomalies ... sometimes the anomalies COME TO THEM ...
And that's just the space based anomalies.
Anomalies could be discovered ANYWHERE that hasn't been surveyed
THOROUGHLY ENOUGH to be well/completely understood ... which often times describes asteroid/planetoid belts in planetary systems.
Don't forget that LBB A1 The Kinunir featured the namesake first starship of the class "lost" for decades in a planetoid belt (that just so happens to be composed of ANTIMATTER, hence the Red Zone classification for the star system due to the extreme danger presented by that belt). My point being that there is canon precedent for "needle in the haystack" type discoveries of this kind, even in star systems that have been "on the map" for centuries already.
If there's a giant megastructure the size of a moon that's broadcasting signals in an unknown language, the scout ship from last year probably noticed.
If you (literally) "can't miss it" ... then yes, someone else will have very likely found it already.
But "finding" isn't always the problem ... exploring/surveying
once found might require contracting "specialists" for the job ...

And if the megastructure is "too big" for a single survey expedition, then you might need multiple expeditions ... all going off in different directions ... at different times ...
Oh, is it our turn in the queue to enter the dungeon/haunted house/mysterious bog that no one has returned from yet? Well let's go!

I think there are plenty of things that the initial survey team would have overlooked. Ruins and such, for sure, unless they're gargantuan.
Depends on what the survey team was scanning FOR.
Were they just interested in precisely calculating the orbital trajectory of a celestial body (to update navigation hazards mapping) or were they creating an updated street view for Google Maps?
Not all surveys are searching for the same kinds of data to be analyzed.
Just think about how there are so many discoveries being made just from looking at old Hubble Telescope observations that hadn't been analyzed the way we can now. Sometimes the data has already been obtained, but recognition of what the data MEANS hasn't happened yet ...
Necessary infrastructure seems like an obvious thing [edit: to limit the edge of exploration]. It's a little bit tough, I think, finding a way to make the equivalent of a 100-ton type S the spearhead. There are a lot of sensible reasons why you'd send out a larger expedition, but that's less fun to me.
"Preliminary analysis of the sensor data gathered is inconclusive. There MIGHT be something there, but there might not be. A follow up expedition is needed for a closer look and more detailed scanning. Any volunteers?"
