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In terms of open worlds, I think GTA IV is one of the best I have experienced, and certainly the best Rock Star has made. The attention to detail in every part of that map is still unmatched, it feels alive. No filler as in San Andreas, no bland content as in GTA V.

Other amazing game worlds to me include Hollow Knight, which is incredibly unique, The Elder Scrolls IV: Oblivion, which has so much character. The Panzer Dragoon series is outstanding, so much lore and atmosphere. The first two Bioshock games have an incredible atmospheric world, Infinite unfortunately did nothing for me.