I don't think that has ever been the intention of this game. Exploring to you obviously means something different than bungies definition of exploration.
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you make a good point, but even if we have different views on what exploration is, patrolling in D1 is not exploration at all, or at least not worth doing. Exploration, when executed well, means you can roam around an open area and there's something, anything, interesting to find. that is completely lacking in D1. They said there improving that but it really needs improving.