I think they said no for launch (Destiny)

by Kermit , Raleigh, NC, Wednesday, July 30, 2014, 11:15 (3768 days ago) @ kapowaz

Since there are no weapons on map, ammo spawns are called out, objectives are fairly obvious and all the classes have enhanced jump, there isn't as much need to explore maps to get to know them as Halo. IMO.

Completely disagree. The maps all felt significantly more complex than maps from Halo, and I found it harder to learn them (particularly given how quickly you can die) than those in Halo. I'd definitely appreciate the ability to explore maps outside of combat.

Wouldn't it be cool if, during explore mode, you found this sign that said "Restricted Training Area: Keep Out." You would of course ignore the sign and explore a multiplayer map.