I also love space RPGs. SWTOR was pretty great. It's an MMO, but it has good single player. The Knights of the Fallen Empire/Eternal Throne DLCs are basically single player games and they're really good quality. The KOTOR games are also really great, if a bit older and KOTOR2 was basically unfinished and requires mods to make it even feel 80% finished.
Outer Worlds was okay. It certainly does in some ways feel similar to Fallout in space. But not quite as good and I don't recall being aware of any serious modding scene.
But huh, I thought there'd be more, but I'm struggling to think of space RPGs with a feel like Mass Effect or Elder Scrolls. I'm really looking forward to this, too, cause despite being a buggy mess, I love Bethesda games and I also love sci fi (especially in space).
Not an RPG, but I also love Stellaris. It's a strategy game, but really scratched that hyper advanced sci fi and space exploration itch.
I really liked the Mass Effect Series, it's no Freelancer or Freespace but if Starfield even feels a little bit like what No Man Sky was doing it should be good. Fallout series and TES proves it will be buggy but fun.