I don't learn so good under pressure. Explorer mode would make learning more accessible. I really liked the idea of being able to see all the dungeons and learn them at my own pace. Then I work towards a level of knowledge where I could confidently farm the normal dungeons with PUGs.
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Bungie really saw a good idea that was allowing players to try dungeons and get a feel for it while getting some loot and said “No no, we can’t have fun here”