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Are you using OpenSky or similar apps to choose either orange or clear zones?
For instance, in OpenSky, Melbourne CBD shows up as Orange, with a yellow exclamation point because of Heliports.
Or do you mostly target non urban areas? Even in seemingly rural areas, you see a lot of small orange circles in OpenSky, which are usually heliports or Airport without Traffic Control.
The orange warning zones are ok to fly though, so don't sweat them.
Read the info screen when pointer is positioned in the app yellow zones, it will say (or words to the effect) "Uncontrolled airport / helipad, land if you become aware of manned aircraft operating nearby".
Sometimes there can be a lower altitude restriction too, but normally not.