What is the reason for warping to Earth?
1. Travel to stars not yet traveled to
The space is vast and there are many constellations. To reach the constellation located opposite of the current location, warping to Earth then traveling to the destination is faster.
2. Acquire power stones required for upgrading Hyper Cores.
Hyper Cores are required to make the Captain and Crew more powerful. Witness the more powerful version of the Captain and Crew after being upgraded by Hyper Cores after a warp to Earth after a long space travel.