This came to my attention after reading the Rescue at Rigel Wiki here at Denial (where R@R was listed as "quite possibly the only game in the Starquest series"), so I corrected it and added a reference to Star Warrior, but I did not specify whether or not Star Warrior ever really came out for the VIC-20.
It does sound like a neat game, even more of a "tactical" RPG than Rescue at Rigel:
Star Warrior is based on the same BASIC engine as previous Apshai-based games. In previous games the playfield was presented as a top-down view of a series of interconnected rooms. Only one room would be displayed at a time, with the next drawn after the player moved through a door. In Star Warrior the action takes place outdoors, with the display showing a one-kilometer area from a seven-by-nine kilometer map, redrawn and re-centered when the player reaches the edge of the current area displayed.