So, two points.
1) I actually disagree with the fundamental premise stated in the title of the OP. I think that the nature of exploration should be traveling to find things - I think more things to find is more important than more reasons to travel.
2) I full heartedly agree that the current scanning mechanic is brutally uninspired and tiresome. I am not opposed to making this more engaging, but as others have pointed out, a repetitive minigame could become just as tiresome or potentially even more tiresome.
I propose that the solution to this issue is to implement a telescope. Then, exploration becomes about traveling above the plain of the system and viewing stellar objects at a moderate distance. There could be a small minigame here involving focusing the telescope on the visible bodies and zooming in, but the core idea is that you get enough information from this process to identify what targets could yield more important ir valuable data, or sweet screenshots, without being as time consuming as the current process of SCing about over the whole system.
If we supplement that with limpets or mini-games, then that's awesome, but I think the core change to the mechanic should be faster, not break the idea of traveling around or finding thinhs, but still impart a sense of space and show you what the system looks like.