I've thought about it a bunch over the years and my advice is to follow a few principles: procedural elements should almost always impact how the player plays, procedural elements should cross-interact with each other as much as possible, and procedural elements should be understandable to the player.

As an example in No Man's Sky the player immediately starts with a jetpack. It makes it so the terrain is approached the same way every time: you just jetpack over it. Very rarely something is tall enough to require you to walk around.

Legend of Zelda: Breath of the Wild is a positive counter example. You have stamina so you're constantly thinking about the height of cliff faces, you can glide so you're thinking about height points and straight lines through the world, cliff faces cannot be climbed in rain so you think about the weather, slopes can be slid down on a shield, etc. There are a bunch of systems that may you think about the topology of the terrain, so even just varying the height map becomes interesting.

Similarly in No Man's Sky there are different resources but they work the same way on each planet and the player interacts with them pretty much the same way everywhere.

When I say elements should be "understandable" what I mean is that a trap, which Dwarf Fortress falls into, is to add a vast simulation which the player feels they can never really grasp. Simulations should not be a black box because then they begin to feel like a random number generator.

The aim shouldn't be to make an "infinite" game but to make a very interesting system for the player to slowly understand and master. The developer shouldn't just add stuff, but they should think about the long journey (and eventual mastery) a player might take as they spend significant time with the systems.