Just out of curiosity, did you play Xenoblade Chronicles X? It's a different take really, where it's much more focused on exploration and is, in my opinion, one of the best games that entice the player to explore. And ironically it does this not only by having well written side quests (the main story is rather bland, however) but mostly by making moving around in the world and getting from A to B not feel like a chore. From how quickly you pick up stuff or not receiving fall damage to having a cool mecha that can fly later on.