As someone who spent several months taking the scenic route to Beagle Point and back, including visiting a lot of planets and trying to find a landing spot in really rough terrain, I also would support the idea of being able to air-drop the SRV. It's already the case that the ship can pick up the SRV without needing to touch the ground, so it would make sense to be able to drop it down too.
Some sort of hover bike or similar vehicle has also been suggested before, and I think that's also a good idea. Have it work based on whatever technology it is that allows skimmers to work; I think the Goliath is more than big enough to support the weight of a single person.