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I remember trying to explore in Destiny's beta. With just a few easy jumps I got on top of one of the roofs and the game started freaking out. That was the moment I knew that I never wanted to buy the game. While yes, every game tries to keep you in the play area, some games struggle at doing this invisibly. This is even more of a problem in exploration heavy games, because it makes it difficult to understand the line between "explore-able area" and "off limits" which makes me not really want to explore.

That said, I haven't played Horizon so I don't know how well it handles this type of thing.