I don't know. I think the beta was just the bare-bones version of the exploration, a theoretical what if for the designers. I would be really surprised if players weren't rewarded for exploration.
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I hope so, I like the game a lot but exploring was a little boring sometimes. Not enough to get me to switch games, but enough to notice.
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The players will decide if it's rewarding enough or not after launch day. If Bungie wants it to be a major mode of play for Destiny they'll make it that way, I have faith.