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.
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.