Yes, in the same sense that Halo 2 was a beta for 3, Black Ops was a beta for Black Ops II and GTA IV was a beta for GTA V. The feedback they got from Halo 4 will let them know where their strengths and weaknesses lie as a developer and will (Hopefully) provide a much better experience in Halo 5 (Regardless of your opinions towards Halo 4)
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i fail to see what they incorporated into halo 3 that was in halo 2 other than weapon and characters.
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Devs don't [i]always[/i] look at the feedback