They are a similar style, however Destiny falls short on their take of it. The first major issue is that the majority of the would-be lore is not actually within the game. The decision to make the grimoire only accessible via the app or website significantly hurt the in game story for lore crazed fans. The item descriptions are similar to dark souls, however they are often much more cryptic, and are always shorter descriptions overall. And the NPCs, unlike dark souls, lack any story to them whatsoever in-game. You know Oscar and his quest just from completing the turorial, but you would likely never know of ikora Rey's story without looking it up in the grimoire. It's a poorly executed attempt at the same style of worldbuilding