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are you playing it on first playthrough?
A lot of the game is about guerilla/hit & run tactics, don't be afraid to get seen, in many cases you can exploit misleading AI to get around areas easily and avoid fighting everyone.
Even in grounded, AI still have pretty bad eyesight, like they can't see someone crawling in ankle height grass over 30-40m away when you could easily see that, or the movement in taller grass far away.
A bit off topic, but i see people complain that stealth has not progressed and AI has remained stupid, the truth is that if they were to make a realistic AI for stealth it would 99% of the time turn into carnage, which people would almost certainly complain about.
In fact I believe a studio said as much when they tried to do just that, all the playtesters really disliked how perceptive the AI was.