It's simple. Why is Halo better than Density? Because I actually spend more time actually PLAYING Halo. What do I mean? DENSITY IS 95% LOADING SCREENS.
Winner: Dark Souls
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I'd have to say halo multiplayer seems much better. War zone even lets it compete with battlefield style games. It is missing something like Spartan ops. Though. If halo 5 had a solid attempt at pve multiplayer with a continuous ongoing player character story and meaningful customization like using warzone load outs then it'd be a very serious competitor with destiny. Even if the converted a war zone game type into large scale pve similar to firefight. Say normal warzone player count and map style vs hordes of AI enemies from all sides trying to capture all the bases. But as is destiny is still more of a pve game and halo a pvp game so they don't compete directly.