I hope they will one day add a mechanism in which, during world generation, a number of 'set piece POIs' are drawn from an even larger pool and then placed around the world.

So you would, in effect, have potentially different POIs in every world you created and based on the size of this POI pool (which could constantly be added to by the developers or modders) you might seldom get repeats in any two worlds.

In addition these POIs, not being randomly generated, but rather randomly picked, could be built with far more customization in appearance, loot and lore.

And these POIs, random and potentially different on every world, would be exactly what I think would not only encourage exploration, but could reward it (find some nice loot!).