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XV's world was underdeveloped at the time of release it's nothing to do with the type of game it is it's just down to SE not handling it well games as far back as the original Xenoblade out do XV's open world and at the time SE were making corridor like designs for XIII they as a developer just aren't geared to open world design. What they need to do is stick to a segmented design all connected by a world map for example is we use FFVII as an example they can have all the towns and such as large segmented areas and then when you leave them you go to a world map.