I think that we can all agree that having grimoire cards isn't exactly the best way of fleshing out an entire universe. If you solely play the game, it feels hollow and missing a lot of clarity, but when you go into the cards you can tell more thought was put into this universe than what its given credit for.
So how would you incorporate the lore better into the game?
Completely cut out grimoire cards and come up with ways to implement these interesting tidbits about the many characters races, enemies etc. Into the actual game. Go!
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How about they give us an actual story. No one wants to sit for hours an read all that. I would suggest what Mass Effect did and have an in game data base with a narrator, but again , we are on the new gen consoles and we shouldn't have to put up with that. So may be, just may be, they could give us the lore of the world AS WE PLAY! You know, like a story, and stop having NPCs say I don't have time to explain... Because honestly... If we have time to have arenas for Guardians to fight each other, and time to wait around till Xur shows up, then we have a few minutes [i]at least[/i] for the Speaker or that Exo chick to explain a few things. Not to mention our Ghost could give us a but of more useful info as we fight enemies... Beside telling me the Cabal crush worlds in there way. Though, give him a shut off switch... Or at least make the comments dynamic... Like if we get killed, have him say something like "Dodging the Fallen's (insert weapon name) is a bit tricky because of there homing ammunition, but if you use cover wisely, it can be achieved. Now get back out there and kick butt!" That all I have for now... Enjoy! :p