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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No, the grimoire cards are fine if they are made available in game, and if they unlocked cutscenes.