Sulphur and Phosphorous are available in high quantities on any world except metal-rich (high metal content is fine). So long as you shoot and scoop the rocks you come across you're not going to stand any chance of running out of fuel, provided you don't exclusively go to metal-rich worlds.
Give it a go while practising driving in the bubble (just wait until you're out of the no fire zone!) and you'll have plenty to get you started for your actual trip.
I‘d suggest using the Scorpion SRV - it’s easier to steer, a little more agile, greater firepower and carries the same cargo load.
But, on the other hand:
- doesn't have a wave scanner, so you can't use it for the prospecting trips to get the synthesis materials (well, you can, but you have to spot the rocks by eye or get lucky and drive right up to one so it shows on the regular scanner)
- is much slower to accelerate
- has terrible off-ground boost
I tend to use the Scorpion for icy world exobiology (where the lack of a wave scanner isn't a problem and the stronger grip is really useful) and the Scarab elsewhere. If you have a class 4 hangar you can take one of each, of course.