(I play with a controller, so don't know the keyboard buttons, maybe someone can help out with those in the comments).
If you have a mission to go somewhere, go into scanner mode and point your crosshairs at the mission icon, press A and you will see the option to press X to grav jump there, without using the menu. You can also use the function to grav jump to different systems, as long as you find them in scan mode.
The ability to take off from a planet and travel to another without using the menu helps a lot with immersion and feels nicer than interrupting your flow with the menu all the time.
I usually use the menu to select a mission, then travel in this seamless manner.
Oh don't worry I'm already 15 hours in. The space aspect bothers me and so does the typical Gamebryo Engine jank that every Bethesda game has, but I'm still enjoying myself. This is a hell of a lot better game than Cyberpunk, that's for damn sure. And I'm glad that there are a lot of mods available already cause they go a long way towards fixing a lot of the issues that I have with the game (like the bullet sponge enemies, the ugly green tint, the low res textures, and the lack of decent post-processing effects. All fixed with mods.)