ND clearly makes quality AAA games but I'd argue that Insomniac's SP gameplay loop has always outshined ND when it comes to gameplay/replayability.
This is a big one for me, specially in recent years.
Like the actual combat in Uncharted 4 is awesome but it feels like the game is actively trying to keep me away from fighting for the sake of the plot. In between every cool combat encounter you have to play through an hour or more of walking and talking, some boring barely interactive flashback or, if you are lucky, some autopiloto climbing sequence which is usually just an excuse for more talking.
It's actually a problem I have with most modern Naughty Dog Games (Uncharted 4, TLOU2) and even games like Gow Ragnarok suffer from it.
Insomniac on the other hand mostly stays away from it. They still tell a story and have cinematic moments but it doesn't feels like it's constantly putting you in boring and barely interactive sequences for the sake of story.