a nice solution would be to have your other 2 characters as AI bots ingame to fill a fireteam (with the option to switch/ assume control of any at will) , like that the game design could be kept the same , while motivating solo players to upkeep 3 chars and do co-op content solo with bots
i for myself would much rather play with my bots than MM randoms or toxic LFG people
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That could be neat, if the AI is good. I don’t think people would want to babysit their other Guardians if the AI is bad