Personally I would, and I think they would have enough man power to work on Destiny and work on Halo at the same time. And I would much rather see Bungie and 343i co-develop the game together to keep new and old Halo gamers to stay.
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i don't think halo could be a long going series, and should've ended on 3, maybe make a short clip or book of the UNSC finding and bringing back the Chief, and that's it.