Titan

The first probe near Titan was Voyager 1.

An excerpt from the article 17 facts about Titan
The flight took place on November 12th, 1980. Several photos were taken from a distance of 4,000 km, but apart from the dense atmosphere, they did not reveal any surface details. As it turned out later, the photos contained rudimentary information about the area, but NASA had to wait over 20 years to process them in detail, which revealed information that was previously invisible.