When mining a lot, and leaving a lot on the ground, I tend to see my hauler drone prioritize regolith hauling even though there are rare earth minerals available.
Both my bulk storage depot are set as default priority.
In this setup, I think it makes more sense that drone prioritize the rarest resource aka rare earth minerals. Without that I tend to have to micro-manage the prio of the bulk storage with rare earth minerals, and then lower the prio so that hauler drone still helps with construction (a bit annoying).
Or set the regolith storage to low. I still feel it should work out-of-the-box without us having to tweak that.