I prefer to use gunboat survey vessels, using a carrier equipped with jump engines to do the heavy lifting. Add a decent size tanker to the fleet and you've got a survey force that is most times superior to single survey craft.
My current game's survey craft have speeds of around 9000 kms and endurance of around 45 days in a 700 ton ship. This makes most surveys relatively simple and fairly quick.
Drawbacks are when you have a very large system, either in terms of lots of planets/asteroids, large distances between grav survey points, or orbiting stars that are waaay out there. Then you've got to carefully juggle fuel consumption and plan on how you can rescue ships stranded many days travel out. Usually I send another survey ship out to the stranded ship, feed it enough fuel to get somewhere(but not enough to strand the rescue ship, if it's that far out), return to the mother ship and repeat as necessary.
This is a frequent occurance in early designs, with the Nuclear Pulse Engines and the next generation engine. Later techs allow me to get out and back nearly always.
Some planets that are too far out I leave until I get Hyperdrive tech down in size, then I may build a stand-alone survey craft for those hard to reach places.