ME2's side content was much better than ME1's, you just didn't have to drive the dumbest vehicle in Citadel Space across a barren wasteland to get to it.
I just played ME1 for the second time in a month a few days ago. I've completed ME2 once in the past month, and half way through a second time around. The Mako's side content is far more interesting to me. In ME2, most of them could be summed up as "Kill baddies, get macguffin," or "Explore ship, get macguffin" with very little variety. Certainly no room given for exploration.
Whereas in ME1, I decided to explore further than I had my previous times with the game. I found an entire quest chain I never knew about, and even found a thresher maw just outside the boundary of a planet. That was sitting next to a node that was also just out of bounds.
There was a sense of danger to some of them too. Unless someone has all of the zones memorized, you never knew when a thresher maw was going to show up. Or if you'd have to be quick because of a Level 2 Hazard. That wasn't there in ME2. I didn't mind planet scanning my first time, because it was fun if I was still waking up and wanted to play. It's still very weak in comparison to the Mako.
With the planet exploration missions, I felt like I was doing something productive. The planet scanning has the odor of padding all over it. The second time I played, the first thing I used gibbed for was to max out resources so I'd never have to scan another planet.
I enjoy both games immensely, but when it comes to sidequests, ME1 wins for me. I would love to see that kind of exploration returning with much better controls. From the official snippets we've gotten, it looks like that's going to happen.