FWIW, you can "scoop" stuff from the surface using limpets... sometimes.
If you turn your ship perpendicular to the surface a limpet will sometimes collect stuff without just cratering into the surface.
Doesn't happen often enough to make it worth trying though.
Back when Palin's "Thargoid tat" missions were a big deal, I spent quite a bit of time trying to optimise my system for gathering the required items and part of that was trying to find a way to get limpets to work.
The only real alternative to using an SRV is to just cargo-scoop stuff off the surface.
The "cheese-wedge" ships (Sidey, Cobra, Viper) are best for this cos their short length means it's easier to pitch without the ship's nose or tail dragging on the ground.
It's possible in other ships but the "cheese-wedges" are best at it.
Even if you plan to do that, though, it's probably smart to also fit an SRV cos there's always going to be times when items are stuck in places where you simply can't get a ship in close enough to scoop.