If something is Nuclear enough it can generate heat

That's an extreme oversimplification. RTGs don't use nuclear waste. Spent reactor fuel still emits a large amount of gamma and neutron radiation, but not with enough intensity to be useful in a reactor. The amount of shielding required makes any kind of non-terrestrial application impossible.

The most common RTG fuel is ^238^Pu, which emits mostly alpha and beta particles, and can be used with minimal shielding. It can't be produced by reprocessing spent reactor fuel. In 2024, only Russia is manufacturing it.

^90^Sr can be extracted from nuclear fuel, and was used by early Soviet RTGs, but only terrestrially because the gamma emission requires heavy shielding. Strontium is also a very reactive alkaline metal. It isn't used as RTG fuel today.