Imagine if Xenoblade X didn't have that bad "Everything starts in NLA" quest system.
Exploration could've been so good when e.g. you finding a piece of the Lifehold would start the quest instead of being not interactable at all until that quest appears in NLA (at least when tied to side missions). Rewarding exploration instead of making it seem irrelevant.
Plus the game would've been a lot less fast travel heavy too.