For true set-up and forget on asteroid mines, you can drop a mass driver to shoot everything you mine back home (or to Luna, then home, if you don't want to risk accidental orbital bombardment due to picking up too many mass drivers by mistake.) In fact, adding cargo holds to the asteroid miner lets you plop it down, mine, and pick up when everything's depleted.
I've had no luck setting up sorium harvesters to dump their fuel on a base/colony- I set the conditional commands to drop off fuel when it's full, but it just waits around at the colony, and I don't see a manual command to drop off fuel in the command list.