The GPS constellation has 32 satellites. A GPS satellite weighs ~2000kg. Starship should get 100-150 tons to Mars - the math checks out! (Disclosure: I got all my rocket science from sending Kerbals to their doom.)
So, MPS for Mars, LPS for Luna? Just imagine the amount and quality of rover footage we could get if each of them had (constant!) 1Gbps uplink to Earth...