Absolutely agree.
The fact is Starfield is not really a space game. It is a shooter / RPG with a space aesthetic. The game it is most similar to is the Mass Effect series (although Starfield isn't as good as Mass Effect).
Mass Effect is a linear game though.
I think they made a mistake sticking to their ancient engine with this game and not licencing a modern one. It works for Elder Scrolls but Starfield needed something more advanced. No seamless space/planet flight or ground vehicles is an engine limitation
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