I have played Destiny from release day, yeah
I feel that Division does a lot of stuff better than Destiny did on launch. The world + world building, the itemization and the matchmaking are all great for me.
The Dark Zone is great fun if you like the Tension that there might always be a crazy Person who will gun you down. I personally don't miss "normal" PvP modes, but I know others feel differently.
I like that the Story missions are all like "dungeons" or "strikes" from Destiny. Even the later side missions often have their own Little "mini dungeons"
I'd still say, if you were burned by release day Destiny, wait for the Divisions first Content drop and scope that out.
If you still feel uneasy, wait another month for the second Content drop that will also Change the dark Zone.
Then make your decision, cause i'd advise to jump in before the first paid DLC goes live.