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Interesting but he keeps dancing around why it took so long the whole time.

First they didn't really work on it all the time, no reason why not.
Then he gives a clue that engine development and game design was split between Japan Studio and GenDesign yet still says he would do that again as it makes things easier for him. However he didn't open GenDesign until 2015, what happened before that.
Next he sorta blames the transition to ps4 for extra delays, but also praises it as it compressed the optimization process. At the same time he claims they don't make a game that taxes the hardware and he would have liked to still release it on ps3. (where it reportedly ran at 2 fps)

At least the initial concept hasn't changed and the footage all looks very good. Hopefully there will be a more in depth postmortem. What the heck really took so long.