There is a TON more lore in year one of Destiny. Even in game/cutscenes. People often compare Halo as it is after 10 years to Destiny, which doesn't work.
I fully expect Destiny's lore to be borderline Impossible to entirely know in 10 years. Heck, I just got done going through all of the Halo lore a couple months ago and am already forgetting stuff. Destiny will have even more.
**I love both btw.
EDIT: I'm only comparing the [u]amount[/u] of lore. I think Halo 1 told an easier to understand story in the first game, but Destiny had more, and better set up the Universe.
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I like them both also.