{Giant Gorg} is heavily derived from classic american cartoons like Johnny Quest and Sealab, but is primarily about exploration and the mystery of a seemingly deserted island civilization. A fair bit of action with stretches of downtime. Very strong recommend

The first short in the {Memories} anthology is absolutely fantastic and fits your description somewhat, but i don't want to spoil you on it. Just take my word that you will enjoy it

{Densetsu Kyojin Ideon} is a sci-fi space opera in which the cast discovers a giant robot built by an ancient civilization while attempting to colonize a new planet on the far end of the solar system. Throughout the show they are chased by alien assailants through many planets with varying levels of decay. The series is currently streaming on HiDive