[b_tterc_p]

Agreed. The sequel, Xenoblade X arguably did this even better by having everything be one continuous map which, after painstakingly exploring it by foot, you can eventually hop in a flying mech and suddenly have immensely satisfying freedom that you deeply desired before.

Xenoblade 2 went in the completely wrong direction. Lots of linear maps, completely separated worlds, some sort of weird tidal mechanic that supposedly blocked things off sometimes but was way too obscure to notice...