ME1 had open world elements, and from what I've read about Andromeda, they are trying to continue on that path but better.
I feel like an Inquisition-ish style exploration system could potentially be perfect in Mass effect if done right.
I think one of inquisition main drawbacks was that the exploration is tied to quests. You explored to get new quests, and quests told you to explore. In Mass effect 1 however, the spirit of exploration was right, you explored because you wanted to, and you wanted to gain knowledge of the planets (or at least I did). I think it's because it's optional and if you are invested in the lore, you got a lot out of it, lore wise. If you didn't want to explore though, there was a tight story you could focus on completely. I had a much better time driving around the Mako on empty planets and reading text about planets than exploring in Inquisition.
Have exploration mostly optional like in ME1 but expand the open levels to the detail of Inquisition. Throw in some of Inquisition systems like a war table where you can choose a team to do some side stuff and some occasional setting up bases (but don't overdo it like in Inquisition!). The reward for exploration should be the mystery of the planet or whatever you are exploring, throw some interesting lore at the player for exploring, preferably some obscure sci-fi stuff that wouldn't normally fit in a "mainstream story". Have a tight narrative of main missions in the style of Shepard trilogy that you can focus on solely if the player wants.
I feel like that would be the perfect Mass effect.
Also, in new GI articles Biware have stated that the game has open world elements, and isn't a fully open world. Whether or not that distinction matters only time will tell.
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