To see the layout of planet tiles, I should be able to do that with powerful enough sensors or at a close enough range.
Except for planets that are enshrouded by weather or shielding, I should never have to put a spy on the ground. I shouldn't have to send a colony ship either (for planets not yet occupied by any civilization), but that's a whole 'nother subject.
A spy could spend the next 30 years just learning about the geography; more if the planet's development is not very advanced.
Requiring boots on the ground for learning about geography is silly (except for the cases I noted above). By comparison to GalCiv3, our current Earth's unmanned missions to Mars are far more advanced than future Earth in the game!