Shenmue 1 and 2 do not have a world map at all, not even a Persona-like one. Shenmue does not need a world map. https://youtu.be/K_zB-R-Dbw8?t=20
Many assets are probably already made and can be used from the Saturn Version and Shenmue online, they just need to be upgraded to HD. Most of the Story is already written. So the majority of the cost involved in creating the game is pure labour cost, like 50k-100k per developer per year.
Like in every Kickstarter the stretch goals are just a marketing gag but the more money you collect the more developers and designers can be hired.
Shenmue never had a really open world, you were always stuck to a limited number of areas to go. The difference between open world or not mostly affects the number of voice acting required, it makes a huge difference if you can ask every question in the game to 10 or to 200 people. But voice acting does not have to cost much, you can do most of it within your team almost for free.
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