The humans from the independent planets and the empire can normally freely travel between those places. It is fairly common to do so. In case of the empire, since it claims all the independent star systems in theory that makes all the humans “imperial subjects” and thus having same rights and obligations. On case of the other planets, it is a combination of not wanting to upset the “big kid on the block” and wanting the income from the generally more affluent travelers causes in effect the same thing.

It should however be noted that travel in many star systems that are not imperial core worlds or core worlds of the bigger independents is somewhat hazardous as there are plenty to pirates and similar despite the empire trying to stomp such out. The sheer number of stars makes such efforts pretty futile.

Most aliens are welcome in most human worlds. In the empire they are “outsiders” and as such face one step higher restrictions than humans. In the other human worlds there are normally no such limits.

Previously the number of aliens in the human worlds was fairly small due to the slow travel times for long distances, but the recent linking of the gate systems has caused an explosion in travel and it is no longer totally unheard of to meet an alien even in a smaller town. There are currently tens of millions of aliens in the empire and the central locations are starting to see things like multi-species bathrooms and similar.

Some smaller human principalities close to the alien worlds have been like that for longer.

Most human facilities work well for most of the humanoid races.

Humans can freely enter Salarian territories and be freely there with very few restrictions. Most Salarian facilities suit humans well, though the general lighting level tends to be lower than in human equivalent places. Many humans from the empire are now in the Salarian territories with the gates opening up travel and trade. Humans and Salarians can eat many of the same foods, so with care one can sample the local cuisine.

There is some distrust between the Turians and the Empire, causing lower effective rights level in the Turian territories for humans. Most Turian facilities suit humans fairly well, but beds tend to be very hard. Humans and Turian cannot eat same foods, though most larger Turian worlds will have food that fits most of the other races available, travelers may want to bring own food along just in case.

Most facilities are multi-species (and multi-gender as Turians do not have body modesty)

The Arasi territories are bit baffling for humans in many ways as freedoms there for humans seem to be both higher and lower than for locals. The basic rules of behavior are simple but there seem to be millions of rules and millions of exceptions and places where humans cannot go or cannot do.

Asari can fully eat human foods and Human can eat much of the Asari food. The Asari do not need supplements when using human food, but humans need supplements if on Asari food.

Almost all Asari facilities are multi-species, but there are no special gender specific things due to lack of genders in Asari.

Many humans have slight intolerance to all aliens giving aliens an effective -1 to reactions in the empire.

The Turians distrust humans giving humans an effective -1 to reactions.

A significant procentage of Asari are Xenophilic, so there is normally no penalty and in some cases a bonus for other races when dealing with them.