So I just kind of technically did my first "dungeon" but it was part of the main quest where you fight a bunch of space pirates and some small alien enemies. The AI is pretty much brain dead, recorded footage of a melee enemy running around on top of a table, he did a few circles despite me being in front of him a few feet away and it took a good 5-10 seconds before he started running towards me. Then again, I never expect AI to be good in games these days (sadly) especially in Bethesda titles. Enemy do go into cover here and there though and I am playing on default difficulty which is set to normal.
The RPG I believe is where this game is going to shine. It's basically Fallout in space so far but without the VATS system. Exploration feels a tad limiting so far but its only like the first hour of the game and I don't think I can give my full verdict on exploration until way way down the line. Also, you can't even land on the planet directly if you are in the same orbit, you have to click and choose "land" on it to actually do it. There are menus you have to go through to basically travel from orbit to orbit and land on a planet to planet. It feels a bit disjointed in that regard.