Whats the best way to find habitable planets

I'm having trouble competing with the AI in expanding my empire and finding habitable planets. I'm trying playing on the huge map with 4 alein races and I keep ending up being right next to another race that eats up all the nearby habitable planets before I can even get my empire going. Is there too many races on the map? I don't want to increase the # of habitable planets because I don't want there to be too much micromanagement. Should I start a game on a big map with like only 2 races?
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Prioritize researching stellar cartography, and once you have it, zoom in on the minimap so you can actually see the clusters of planets.

That should give you a decent idea of where to start looking.