Grail Quests and Frontier Worlds

[Broadside3]

It seems that getting the grail quest completed on frontier worlds is impossible if you only have 2 or less NPCs. There are no visit sites and you can only buy one Cypher per NPC faction.
Is this intended?

 

[Ericridge]

Enter a exploration site to scan for cyphers and enter. It costs 1 turn. It must be uncleared exploration site.

 

[Broadside3]

There are no exploration sites in frontier worlds.