I have accidentally and purposely glitches out the map over 10 times.
On nessus there is a slope you can climb easily and at the top there is a hole in the wall you can walk through. It’s that easy to get out of the map.
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Same thing on Io on top of the big vex structure. You can normally walk up the creases and on the left side there is a big hole in the map.
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Same thing in the Black Garden in D1. As soon as you enter it, go to the right and there's a hole you can just walk out of and be outside the map
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That was the best.
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I spent more time exploring that outside area than I ever spent in the actual mission. Also screwing around with swords and the boundaries that fling you away