Destiny could really do with some more RPG elements. I think being able to actually TALK to characters as opposed to just interacting with them as merchants would go a long way. Also, I think there should be more places to explore that aren't wilderness. Let's go out into the Last City and interact with the civilians! Let's go to the Reef and talk to the surviving Awoken! The Cabal Homeworld is supposed to be a Trading hub of many different species...so maybe that could be a place to visit in the future, too? There's so much untapped potential with this game, so many things we want to see!
But Destiny isn't a RPG it's a "FPS". I hate that argument and it's likely the type of replies you'll get.