I like this idea. I still can't get over the fact that the fireteam is only up to 3 players when my core team is usually atleast 4. Plus recent coop games have gotten me used to that.
This game excels at loot, gameplay, and customization options, but the social aspects could do with some work, like your 5man only or 3man in shared freeroam idea.
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Or they could break our 6man fireteam into two squads that share the free roam world. Like you said, the enemies would just get tweaked to compensate for the team size( like the enemy difficulty in the strike mission or how borderlands does it.) It's not like they haven't already utilized something like this. (Have similar option in each story mission.)
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I see...to just have a TEAM of 2 Fireteams that stay with each other in free roam. One can explore Venus and the other the moon but if one were to join the moon's explore they could then see their friends.