Another aspect where ND missed the ball in this gen, is that they create 0 iconic character that i personally like. Expect Raph in instance.
In PS1 era, there was Crash, Coco, Cortex, and all the other characters of Crash series have their charm (that was highlight mostly in CTR even more) , just with one franchise they created so many lovable characters.
In PS2 Era, Jax and Dexter were cool.
In PS3 Era, Nathan, Victor Goddamn Sullivan, Elena, Chloe, and also other iconic boss characters like Eddy or Salazar. And then the super iconic Joel and Ellie, and even secondary characters like Tess was super likable, and Bill was cool as a character, and cie.
In PS4 it was quite weak in comparison, i actually liked Raph and he's one of the most interesting villain in uncharated franchise, i though Sam was Ok, but a lot of new characters they created in this gen were whatever, Nadine was so uninteresting, and in the last of us 2 every new character introduced were pretty much forgettable.
To me ND PS3 era and ND PS4 era is like Day and Night.