I kind of find it funny when people compare Destiny to WoW, Borderlands, or Diablo. Those games throw loot at you. This game has much more of a Phantasy Star Online vibe, the loot drop ratio, the mission structure, the classes and races are near identical.
PSO also had similar issues in that you needed to grind for decent gear unless you knew people who duped stuff. Everything felt samey in the core missions where as the online special events was where the game got interesting. But, yeah from what I read it's sad that they didn't really make post 20 leveling clear.