Standard Cargo Hold 25kt does the job for most standard installations. I run ~55kt Freighter, Tanker, Troopship, Colony Ship off a single Base Design, same design whole game, just update the tech usually. For most the space construction stuff (Starports, Depots, Docks, etc.) will need Large Cargo Holds with their 125kt holds to make moving the 500kt to 2mt reasonable.
Geosensors and Grav sensors is all about time really, there is no "efficient" other than getting better sensor tech, they always mass the same.
Don't have to configure anything to Grav Survey, Planets, Moons, and Bodies are all Geo survey, and System Locations include Jump Points. If a ship has both sensors, then will need to detail the orders out a tad, else, just use Survey Next Three Locations and the Geo will hit the Bodies and the Grav will hit the JP's.