I didn't like it an hour in but I've come around. Been thinking about this a bit. Here's the thing, they are trying to break into some new territory here. Most shooters draw a line between story, which has a lot of cutscenes and multiplayer, which is about getting you in and shooting stuff as soon as possible. Destiny is trying to blur those lines in a way that hasn't been done a whole lot and people who like either of thoese extremes aren't going to be happy. A solo story person wants a lot more explanation, but nobody wants to wait out a bunch of cutscenes they have already seen because it's new for a coop partner.
There is story, and a rich world but it's best explored solo and the game supports that with lore, with going back to explore for loot chests and rack up bounties. It just doesn't feed it to you the way we're used to getting it. They strike a good balance. Borderlands did a better job of micro cutscenese for atmosphere and driving story through audio only and scripted game elements so that people who wanted to watch could watch and people who had seen it could keep blowing crap up but that came at a cost. When you teammed up with random people you felt a little disconnected. They might fly across the map or drop in and drop out. It was a bit of an anti-social multi-player experience.
I've been playing with docta09 and the game is about 10x better that way. Yet I still had a good time this morning going back through and exploring as described above. I also played my first challenge (can't remember what they are called) and wow that was cool. It did feel like it had two endings but it allowed you to tough it out by not making you start all the way over when everyone died. Can't imagine what the 6 player ones are like.
Yes it has elements that feel like borderlands and like halo, maybe a lot of elements that feel like Halo yes it can be improved. Yes I think I'll be playing this for a few months solid. It is deep. I feel like I'm only scratching the surface so far.