I share this opinion. I was so excited for Destiny (fun fact: it came out the same day Apple announced the Apple Watch - I remember playing Destiny then taking a break to tune into the keynote) but it was pretty unpolished on Day 1. I dived back in with The Taken King, which I really enjoyed.
I ignored Destiny 2 when it first came out, then picked it up on Black Friday last year with all the expansions. I basically treat it as a single player game and absolutely love it. The combat is so sharp and tight, the missions are enjoyable.
I know it has a lot to offer with raids and fireteams and all of that, but I just want a few hours of escapism and for that, it truly delivers.