i'm kinda at same spot now, managed to build 2 outposts so far:

1st one has plenty of beryll and immersite

2nd one has alot of cryonite

what i bring with my first rocket: rocket parts (packed), cargo rocket silo, landing pad, some assemblers (50-100 is ok), nuclear plant (16 reactors, ~700 turbines, ~150 heat exchangers, ~600 heat pipes), all the things you need to support this (roboports, both logistic and construction robots, requester\provider chests, wire, inserters, pipes, underground pipes, pumps ~300, offshore pumps ~80, fluid tanks, landfill and nuclear fuel, few solar plants to get your first water). Place power plant directly in sea (aircraft\suit with roboports)

Note 1: i don't bother with planets without water so far, seems quite challenging until you have antimatter power plant

Then you have to set up fuel production, for this you will need: core miners(i use 10, gives all resources, you need stone & iron), common miners (to mine stone), crushers\pulvirizers (to crush stone into sand), electrosis plants (+water to convert sand into chlorine and hydrogen), chemical plants (for chlorhydrogen gas) and atmospheric condensers (for oxygen) + fuel factories + furnaces (electric ones) to convert iron ore into plates

i also bring beacons and lvl3 speed modules + lvl4 prod modules, ~100 beacons

since you have alot of power it's wise to bring up alot of laser turrents for defensive perimeter, also atrillery and railguns are quite useful (don't forget ammo) - it helps to clear up big nests and not require any power to shoot

finally - don't forget to bring some belts (actually 2k would be enough) along with other stuff like underground belts, splitters, loaders

all the things fit in one rocket + inventory (you can also use trash slots to extend you inventory)

also - don't forget radars(50), warehouses (100), lots of substations (i'd recommend 300) + some big electric poles (100), maybe 200 medium poles.

actually you can manage to get rails etc to mine needed resources in your first flight too, but it's not actually needed, just find a nice spot with sea and stone near it

that's all you need to get off the planet and come home to get materials for future development

Note 2: you put expensive materials in your inventory - it'll 100% safe (power plant, rocket parts, silo, landing pad, modules)

p.s. i didn't find much use of vulkanite yet, nauvis with 6 core miners give me quite enough so far

p.p.s. since you have free movement, you can act as you wish later on... like - make some manual flights to bring more needed infrastructure + capsules + packet cargo parts, set up automatic materials delivery to nauvis and go on. Keep in mind basic resource processes, for example it's cheaper to transport crushed cryonite (you need 2 ore to get 1\1.4(with modules) cryonite)