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Mr.GameCrazy said:

So, it turns out when Retro Studios restarted the development of Metroid Prime 4, it wasn't from scratch. They had to salvage the concepts Bandai Namco did when they were developing the game.

Source: https://x.com/i/status/2004301058747908448

Just echoing what I mentioned in the article thread that Firebush posted but i do feel like there is some wishful extrapolation in aspects of the twitters guys deductions. I don't see how Namco's blueprint from 5 years back dictated the criticism that have been aimed at quality of the open world or puzzles. They also suggest the feedback is from changing tastes since BOTW..,

More than anything it feels like a game made by a team still developing, learning for the first time how to make a metroid game and thus not priotising game design in a way that would have identified its weakspots, but for sure they'll be all ears to criticism and way more experienced to deliver a more universally appreciated experience next time.

The thread for full context/interview
https://gamrconnect.vgchartz.com/thread/250019/the-development-of-metroid-prime-4-beyond-mdash-interview/