Descendants: Voidborne
developed by Mob Made Games.
“A 4X game in the spirit of Civilization or Masters of Orion but with fast matches that take place sequentially in the same persistent universe. Play as the descendants of your previous civilizations as you explore the infinite depths of space and witness the consequences of your decisions from previous rounds.”
Still in early development, but this is a really good video that explains how the game works, with the persistent worlds and descendants of your previous decisions.
via /r/gamedev
Concept art.