The gameplay loop of doing missions and coming back to your base in between them is very satisfying for me. The end goal is to prepare yourself for a big heist, which you can launch at any point in the game, it's gonna be bordaline impossible without a solid prep
You need to care about your base, scavange for resources. You need to care about your companions, as they can become wounded, they need food, medicines and some relax time to not go crazy.
Companions are written in an interesting manner, each has his own personality and goals.
I'd give 5/5 if not for bugs. Animations and models go wierd from time to time, I also got stuck on the terrain and had to reload. There are also performance drops. But overall, it's a very solid game, def worth it