I know this is how people in the 80s and 90 imagined the future and a lot of concepts were probably too far fetched for them.
BUT... why arent they using drones to explore planets? why are there not more drone-spaceships? why does enterprise need a crew to begin with? Why is there so little automation? Why so few uses of AI in general?
I am saying this as a star trek the next generation person. I'd also expect them to have full video and sensory streams of any surface mission teams.
You are right, it would remove all the stakes, but then I feel that is just bad/lazy writing, If you really went into such a future with your imagination, I am pretty sure it might even raise the stakes as there might be probes hiding/sleeping in places you do not expect or in general all of that while making exploring a planet more secure, it could then make for a great twist if all of the sudden a swarm of drones dropped out of hyperspace right on top of them.
I seem to remember at least one episode about a rogue drone missile (nuke?) of some type that they had to board / disarm, but yeah that aspect of things was really ignored. Same thing with space infrastructure / communication relays and all that, never hear about it unless its a hook for a specific episode..
I also don't understand why they use elevators instead of just asking to be beamed to whatever part of the ship they need to go. At least the captain could probably be beamed around.
Transporter technology constantly evolves across all the series and eras.
So in the 32nd century, yes they do just use the transporters built in their com badges to zip around the internal volume of the ship, but there are protected areas. The Transporter room is more like a formal entry.
In TOS, internal site to site transport was dangerous, so only used in emergencies. You’ll note that they almost always transport to outdoor locations.
In TNG, less dangerous but not generally enabled. Used under emergency or ideal conditions only. There are a lot of situations on planets where portable pattern enhancers are used to improve functionality and safety - kind of a take it with you transporter pad set up.