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I'd just like to point out, From Software have pretty much always been multi-plat. Or at least, since last gen, they worked on all 3 major consoles.

The only reason Demon's Souls was a PS3 exclusive is because Japan Studio helped design and develop the game (as such, Sony kept the IP for Demon's Souls, but obviously not Dark Souls).

But to answer the question - no, I don't think it did them any harm going multi-plat with this specific series. At the very least, it got them some decent exposure for the series if there are going to be any more.