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Jak II was not bad. Having an open world isn't a bad thing either. I think people just like bitching about it, because Naughty Dog tried something completely new, but they DEVELOPED characters. Characters that have deep, engrossing backgrounds. Something I have yet to see Nintendo do and to a lesser extent Microsoft with Halo.

Jak and Daxter are full fledged characters. The world feels real because everything had/has a place and purpose. Jak II and Jak 3 were designed to build a world and make the environment mean something.