Damn man, I'm halfway through Uncharted 4 right now. It's going to take me about three times as long to finish that game, because I spend half the time looking at the panoramas. Mind blowingly beautiful art design.
But some of the trees in certain levels are completely 2D bitmaps even in very near to the player areas. (eg the level after you emerge with the submarine to the surface) That is the only thing that could have been done better. And Tomb Raider 2013 and Tomb Raider 2016 already copied Uncharted gameplay in a very carbon copy way, but added some innovations. So if there will ever be a Uncharted 5, it will be harder than before without competition.