Another vote for Cherryh - pretty much anything by Cherryh. And in the “journey” department, perhaps also look at John Varley’s Gaia trilogy (Titan, Wizard, Demon)? (Probably falls into your “excessive violence and some smut” category)
You might also try the “far future/dying Earth” genre as a way of getting the exploration without necessarily being tied to the space/hard sf milieu. I think the most awarded member of this subgenre (and I liked it quite a bit) is Gene Wolfe’s three Sun series (Book of the New Sun, Book of the Long Sun, Book of the Short Sun).