According to IGN’s inside look of Infinite, the “rescue allies” and “liberate outpost” missions will be entirely optional. This quashes all concerns about Infinite being Halo Far Cry. feelsgood
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Obviously though clearing outposts nets you huge perks like weapons, vehicles, variants, etc. So although it is likely 100% beatable without clearing any (or at least very few) outposts, the reality is that if you play on Legendary you are probably going to want to unlock some stuff.
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Looks really good how 343 have approached this
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