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I got the game when it was onsale at Best Buy for $29.99, I think it was well worth it, so $20 is defintiely a good deal, IMO.  The story mode is not 20 hours, more like 8 maybe, but there are tons of side missions, which might make the game rack up about 20 hours.  The story is fun.  There were a lot of bad reviews about the on-foot gameplay, but I enjoyed it as well as the awesome vehicle gameplay.