720p seems kind of unimpressive for this game. Even before the Digital Foundry video I was scratching my head at why people were acting like this was another panic button miracle. When it came out on PS4 it looked pretty ugly as a game, it was basically an Xbox 360 game but with less jaggies and a slightly cleaner image.
That being said, I haven't watched the video yet, and maybe there's been some massive technical upgrades made to it in the last few years. I doubt it though, because it still looks kind of ugly.