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The native species either felt like or knew they were being invaded and saw the reconstruction of the planet into a machine as either heresy or destruction of the natural order. The native species fought back and created the corruption to attack the machine people, destroying a vast majority of their colonizing opperation and halting any further progress.
During that time machine sentinels were sent out to find individuals with the ability to combat the corruption. This has failed many times before, as is evidenced by the fact that there are all of those ancient, rusted husks around with sword fragments.
There was even a case before where a selected champion joined with the native forces to serve their queen rather than fight to eliminate her. So the two endings are kind of a grey area. On the one hand you have the supposed "good" ending, where you fight the corruption and release the remaining colonists to finish converting the planet, and everything looks green and happy.
Then there is the "bad" ending, where you decide to join forces with the "dark" queen and your robot companion goes looking for another champion to combat the corruption. Personally I have a hard time deciding between the two endings as to which one is the actual "good" ending.
On the one hand you have a native species who is fighting back against unnatural invaders trying to defend their home and be at peace with nature, whearas on the other hand you have a technologically advanced species fleeing their home, either because of natural causes or destruction of their own creation, to find a new home. Either to learn from their mistakes and become closer to what they feel like symbiosis with nature should be, or just to recreate the world to what they knew from their original home.
I think both endings have a lot of merit and reasons to go with either one.
Also noteworthy. The first hand of the Queen helps you during the game and even saves your life and your Robot pal even stops you from attacking her. Is he still trying to rescue her and did we actually kill her at the end? So many open questions.
It revealed my only real complaint about the game (I've sunk 38 hours into 1 play through, and will be replaying in other saves plus trying to complete all collectibles, I absolutely LOVE the game): the ending is quite quick for the storytelling it's trying to wrap up, and if you haven't found enough collectibles it leans more into the vague side than I like.
I've not collected enough sword parts to unlock all the lore rooms, which by all accounts helps getting a better understanding of the world, and so from a storytelling perspective it's a little frustrating to get to "the end" and not have the full story because I didn't find all the sometimes craftily hidden collectibles. I wound up reach the pinacle of the story with only 2 lore rooms opened and effectively guesstimating (based on a little info from the game and the weight of decades of scifi trope knowledge) what my motivation would be for getting there and just taking her hand. There's very little I'd change about the game if I had the power to do so - adding just a *smidge* more digestible exposition at the end (pre and post choice) would be it.