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I think the concept is kind of unfamiliar in some ways and some gameplay elements might be off-putting to some in the beginning. I say good legs with a 600-650k first week is likely. A game with actual challenge and that actually requires thought might be a tough swallow for many modern gamers.
It doesn't have the action appeal of Uncharted but will likely spread in popularity simply for being a solid title and having Naughty Dog's name plastered on it (which is a true mark of quality in the last decade or so).

Lifetime predictions are tough, I'm not sure I could make one. If I did, I'd say something like "slightly short of the original Uncharted". 4 million-ish then, could be less, even Platinum release and bundles might be ineffective since the PS4 will steal a lot of thunder from the PS3 over the holidays and beyond. Not to mention other huge titles this year. 3.5- 4 million lifetime, 650k first week (worldwide, that is).