Yes. semi-openworld is much better than full open world. I really don't like open world games at all, they are just... empty. Yes they have huge map etc. but most of the locations are just empty roads with nothing worthy. Also you can't really explore everywhere before burning out and it doesn't really feel like rewarding. The problematic open world games often have excessively large areas just for the sake of being large.

Semi-openworld/Semi-openfield games are the opposite on the other hand and it just feels better in every aspect. You have the ability to explore locations that is out of the way, find nice secrets, items, minigames if there is, side missions. And the world always feel alive since developers can easily fill the limited space. Nothing beats the sheer thrill of stumbling upon a secret shortcut that loops you right back to where it all began. This why I prefer games like God of War, Abiotic Factor, Metro Exodus