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I too played just recently but I thought it was amazing.

It's intended that you have to drag Yorda around. You have to keep her close to you so that she doesn't get carried in the darkness.

The story is minimalist but that's again the point. Not everything has to be explained for a good story to be told. I thought it was emotionally engrossing and few games, especially at the time ICO came out, offered this.

The platforming is odd sometimes but still fun in my opinion.

For the experience ICO was and for the progress it bringed in storytelling in video games I think it's actually underrated.