BP said:
In the classical sense of direct observations by a person on scene - most of our real world is still not explored!
Define explored. Discovered by someone or known to everyone.
Some of the cities here have hundreds of years of cellars and foundations under them. There are areas now 50 years old that have not been visited for a generation because they were walled up or covered over. The long sealed and abandonded subway and tube tunnels under new york or london for example. Once filled with people, now 50+ years later 99.9% of the people who live in those cities are hardly aware they exist or know how to find them.
With a decent guide you could spend years exploring under London alone. Areas that were once well known and frequented but are now empty and hidden. Move away and find lakes so deep that they have never been explored except by sonar mapping, cave systems vast and complex that have never been explored until someone cleared away a wall of mud and revealed a new tunnel. Oceans and seas that yield something like the Celocamph.
The crypto zoologists are constantly talking about big foot, the yeti, nessy, the creatures reported in the depths of the Amazon. The mega squid legends of centuries ago, the wood carvings of a squid big enough to pull down large sailing ships, myth and fairy tale till modern days when remains have been found, its easy to laugh at a wood carving out of a fantasy story till you see a pickled length of squid tentacle with suckers big enough to cover your face. To the best of my knowledge we have never seen or filmed a live one.
We have hardly explored our worlds deepest and darkest areas.
Lets face it, with the technology we have, the science, the research and the numbers of people on this little world, finding new tribes of stone age peoples in the jungles or entirely new or long thought extinct species should not be possible.
Yet we do it all the time.
Having an otherwise advanced world suddenly discover due to an earthquake that there exists a vast network of natural tunnels and caves that spreads out far under deepest oceans of the world can take your Traveller characters off the starship and into the realms of "Journey to the centre of the earth".
As BP says, finding new areas to explore isn’t a matter of needing new worlds. You just need to look in places no one else has looked before. That’s not so hard even on a world with 7 billion people or so living on it.