if you click a shove vole and check its navigation, you can see the whole shape of the terrain it can go through, unknown areas included. for example in this picture i can see the shape of the top of the asteroid and the location of the gravitas ruin before exploring.
reach somewhat close to surface, just enough to reveal a little bit of regolith, then search for a vole (will have the burried object logo on the tile he's in, if you see a moving burried object, you're golden.), click show navigation, ???, profit.