Based on my multiple playthroughs during the past few patches, I've not seen a single Human NPC settlement (i.e. a village). I've come across maybe two USCM penal colonies (populated by multiple non-human species as prisoners) and roughly six USCM underground bases (populated by humans and their variour robots). I -think- I've come across one or two human NPCs selling clothing near a wagon but that's about it. I'm thinking as the alpha/beta progresses and things are refined a bit, we'll see some more variety/added content specific to NPCs and their various villages/locations.