That WAS SF in the old days.
Burroughs Mars books for instance are just that, wild adventures in a more exotic setting. He could have set them as Caribbean pirate tales just as easily, or as Louis L’Amour westerns, or redone medieval fantasy in the setting of Orlando Furioso. Its just that in his time Mars, Aliens and super-science were cooler.
You can find elements of the Carter books in the earth bound Tarzan books. and you can see many of the Pellucidor series in the Carter books.