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ultimately if you compare the story of halo with the story of destiny you are ignoring, either purposely or unintentionally, the vast difference that seperates the two.

Halo has you take on the role of an existing character, who the story is specifically crafted around, as such plenty of queues and plot twists can be used that directly effect the player, resulting in what feels like a more deep and engaging storyline.
Destiny on the other hand has you CREATE that main character, so the story has to be loose enough to work with not only the character you make but any character anyone makes, and also account for multiple characters existing in the same title.

what youre essentially doing is comparing apples to oranges, the proper comparison would be to take a random multiplayer character from halo and consider how much story that character has, you'll soon find it has little to none.

that key difference makes a huge impact to the story and makes comparing Destiny to games focusing on pre-existing, set characters, a rather narrow minded and inaccurate affair.