It's the other way around. They should have made the game darker and more mature, warranting the M rating.
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Because that's how things work. Game devs don't set the rating of the game, the game is rated based off of its content.
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I mean why should it have been darker? What would the story have gained from a more mature rating?
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When I say darker, I see it as more of a realistic approach to the enemies. I wanna see the fallen scavenging around, crawling on the walls and starving after we destroy their servitors. I wanna see thralls feasting on Fallen or human corpses, and dark magic seeping through cracks in acolytes' skin.
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Eh, you don't need an M rating for any of that. Just more time and attention adding detail to the actual story as it's presented in game. Problem with Destiny's single player story isn't the content, it's the fact that most of it is entirely absent and stuck in the grimoire. Which in and of itself is pretty dark stuff...