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This can be solved by adding the following lines into <EnvironmentItems>
(just an example for Earthlike, for other planets you have to copy the same entries for the different planets, found in "C:\Program Files (x86)\Steam\steamapps\common\SpaceEngineers\Content\Data\PlanetGeneratorDefinitions.sbc")
<!-- Compatibility Forageable Object (Apex Surivval Update) -->
<Item>
<Biomes>
<Biome>85</Biome>
<Biome>87</Biome>
<Biome>113</Biome>
<Biome>141</Biome>
<Biome>198</Biome>
</Biomes>
<Materials>
<Material>Woods_grass</Material>
<Material>Grass</Material>
<Material>Grass_old</Material>
<Material>Soil</Material>
</Materials>
<Items>
<Item TypeId="MyObjectBuilder_Forageable" SubtypeId="EarthForageables" Density="0.004"/>
</Items>
<Rule>
<Height Min="0" Max="1"/>
<Latitude Min="0" Max="90"/>
<Slope Min="0" Max="20"/>
</Rule>
</Item>
Using this with Smoother Terrain makes for very rover-friendly world and base.
The closest thing ive found is the Maze planet
Someone made a compatibility mod:
https://gtm.steamproxy.vip/sharedfiles/filedetails/?id=2745251918
I guess if you use that, the mod order in the in-game menu would look like this:
Compatibility Mod
Seams Fixed Industrial Overhaul Edition
Better Stone
Industrial Overhaul