Hi! 
Easiest way is to look for the Exo’s thread here on the board - for example - [Esfan] --[Umbris Tier 7 Exoworld]-- [Active]
Gorillastomp posts very useful threads for every exo with all the information for them. In this case, you would go to Kol Huroo to see the exo (it will look a lot larger on the ones you warp to it from) and aim a totem with a warp augment on it at it to set up your warp. TNT is a great hub for getting to all the planets - Kindred Bay, PS, and Ultima are also good options.
Alternately, often people here will offer a “taxi” to the exos. Keep an eye out for those, it will save you the warp cost.
Another important thing is to be sure to have the appropriate atmospheric protection points in place. You may also need some points in the skill that increases warp distance to get to them, if warping and not taking a taxi.