First, head to the Anomaly station and buy all of the blueprints, if you haven’t already. That is always the right way to start upgrading any of your tech.
Next, have you claimed a settlement yet? If not, do that. After working a few cycles through the settlement questline, you’ll get something interesting for your Minotaur.
And of course, always check the exocraft salesman on the stations; they don’t always have the same upgrades, but you should eventually find some good options that’ll make your Minotaur more useful. I personally recommend only buying S class upgrades, if you can afford it.
And if you haven’t already discovered this: there are two exocrafts that can navigate underwater… not just one.
I am in the US and subscribed to P+, and I just checked: Paramount+ presents Farpoint as a single episode (noting in the title that it is Part 1 and 2) and includes the recap scene at 38 minutes into the episode.