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thank you it would have been amazing if i could do that
Tales of Zestiria attempted to do exactly what you're asking and most fans didn't like it because map issues during fights. If you want to play a Tales game that lets you battle on the open map maybe you should give Zestiria a try.
If you're asking if there is an arena transition to battles from exploration mode then yes, that's how it works.
...I mean, at least for mob/most map explorations, if you're that bored of combat just put it on Story or Normal and Full Auto combat, then increase it/do Manual or Semi-Auto before story beats if you want to experience those on a harder difficulty, something like that.
I don't want to wait, wait combat field loading, then the annoying fighting (why do they have to call art name each time they use?), wait the boost strike animation, wait the slow motion at the end, wait the exploration map to be loaded. Some time I have to lure 2 groups of mobs to fight once, too annoyed.
One more minus point, the combat field is the same for whole region in map, regardless of position, terrain.
Why don't they let user fight the mob directly on the exploration map? Many game did it, run a round with companions, jump to mobs then slash.