Horizon Zero Dawn does a lot of big stuff well. Literal big stuff, like robots the size of buildings. It also nails a lot of small things. Amazing leg animations, sure, but also things that more directly affect how it feels to play the game.
Destiny has a hell of a user interface. It’s nice to look at, but like many things in Destiny it’s also nice to use. Just like any part of any finished video game, it went through a lot of rough drafts to get to where it is now.