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here we are. This is from an interview on eurogamer with user submitted questions, here is the quote:

woodnotes asks: Do you expect to release a game every year this generation like in the PS2 Jak days? Or do the additional development costs and time mean we may be waiting somewhat longer this gen between ND releases?
Evan Wells: That's hard to say right now. Even on the PS2 we took two years to develop Jak 1 and 2. It wasn't until later in the generation that we had enough tech built up that we could get the production down to one year. I imagine things will be similar this time around.

 

Scroll down to 18:59:24 (or use search) to find it. So this does not say that will be definitely the case, but that is what I expect