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The Prime Directive, aka General Order One, states that: "No starship may interfere with the normal development of any alien life or society." That has often been translated in the facts as forbidding contact with any civilisation unable to reach the stars by themselves, with the possession of working warp technology used as the tipping point, as explained ...

I think that would be less under the Prime Directive and more under First Contact procedures. First Contact procedures have an application, and that's when you're likely to encounter a civilization during exploration. It's not a factor when visiting their homeworld; you know you're a guest there. They're worried about chance encounters in other worlds ...