I really wish "big open world" was no longer a marketing thing. I prefer smaller worlds like the size of Bethesda's games. Don't get me wrong, I LOVED The Witcher 3, but the maps were tad too big, at least Velen was. There was still about a 4th of the map I never went to even after beating the main story and about half of the side quests.
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In many ways, Bethesda are the number one reason for games trending this way. Their maps were huge way before most other games picked up on the trend, and they are only getting bigger; Fallout 76s map is confirmed to 4x the size of Fallout 4s already pretty huge map.
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Well, that's because it's online and they don't want you running into people all the time. 4x the size of Fallout 4's map is maybe the size of Velen from The Witcher 3 Lol, o it's not really as big as it would seem.
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You also have a horse in Witcher 3 that allows you to travel about 5x as fast as Fallout 4. Witcher 3s map never felt nearly as empty to me as Fallout 4s, but agree to disagree.
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Big open worlds are fine as long as there is something happening everywhere you go. Big open yet empty areas look pretty but are generally boring to travel through.
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That and fast travel lol
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For me as long as that something is quality stuff happening. Dragon Age: Inquisition always has some small thing you can do in the different worlds, but they are all boring. TW3's main plot and the side quest were good enough for me to keep playing, but I always fast traveled if it was too far. Exploring the map felt like busy work. I mostly ignored all the enemies, stopped by the quest givers, then ignored them unless they were interesting enough, then went on my way to the main quest. The world is done well enough to where you won't get lost thankfully, but just too much empty space in-between.
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You should get started on the expansions, both "Hearts of Stone" and "Blood and Wine" stories focus on a much tighter area in the open world. Plus in Blood and Wine, you actually feel like exploring Toussaint because of how god damn beautiful it is, much much more than Velen or any of those war ravaged landscapes, its significantly smaller too.