Open world was indeed empty but gameplay loop was so good and addictive that empty open world didn't bother me much.
I didn't care about story much either. I enjoyed the game purely on gameplay basis. It was just fantastic experience.
Phantom Pain had one of the, if not the best stealth gameplay in a video game. The use of gadgets and equipment was integrated with the game play with ease. However, it's open world was empty without servicing any purpose than just pass through. It didn't help that the game was not finished either.