Astroneer is a game where if you run around the whole planet, you will end up right where you were.
https://store.steampowered.com/app/361420/ASTRONEER/
Great game and worth a play even if it seems a bit kidish
May not be earth scale but still fairly large planets
Space Engineers can get even closer but I have only seen it done with modded planets and they are still no where near earth size
This is a design choice, intentionally made, for the sake of immersion. Once you know that, it is very cool.
But if youre going to play it you need to know that it intentionally doesnt use menus, because without knowing that you will feel very lost for your first few hours
There have been plenty of other open world games years before Minecraft existed. Elite 1984, Legend of Zelda on the NES, Arena, Daggerfall, Morrowind. Etc.
The term itself just hasn't been around that long.