There are a few episodes where they land in addition to ‘The 37s’. Off the top of my head I remember a season ending two-parter where the ship gets stolen and an episode called ‘Demon’.

IIRC they had intended to do it more often but due to a small oversight in the bridge set design they had to change all the red alert lights for blue ones and that apparently took too long.

After they find the pickup floating in space, they track its origin to said planet and set down.