Well in Might & Magic games, you could chill out at bars and inns and it felt pretty great, although it didn’t feature any of the interaction found in a Wing Commander.
I always enjoy getting into some bar in an RPG. In Baldur’s Gate, the inns felt so lively. Even in old console JRPGs: in Sword of Vermillion, a mainly first person (and quite grim) RPG for the Megadrive, there was this crazy bar with tons and tons of NPCs that left me a quite awesome impression.
In recent years, 3030 Deathwar Redux (again!) features space stations hub a bit like those of… Starflight 2? or was it Buck Rogers? but much more lively. It serves as a more traditionnal open space game trade hub as well, so that might escape a bit the scope of your request.
There are the Monster Hunter games as well. They feature villages, not bars, but are nice change of pace after a mission. They feel like a comfortable pillow.