Try playing the game with Advanced tech level. In that setting each race starts out with several solar systems already colonized. If you do start in Pre-Warp, though, then yes, it takes forever to start colonizing (which is good for me, since I always play a Creative race with a tech bonus so I'm always colonizing in no time flat while my opponents are still researching nuclear drives).
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"If you want realism, play two turns and die of old age."
-Flavor Dave
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