I agree, perhaps in the expansions, they should add more "out-of-the-place" areas that require walking to, but don't really impact the story, so those who want to just do the missions aren't bothered. In other MMORPG's, much of the excitement was simply being able to travel with friends and explore together.
While many people hated the crystal desert, I actually enjoyed it, because it was very open-ended, and not so linear like most of the game. The reason I don't really play the PvE in this game is because it's so linear and seems like the developers primarily intended you to play it in order to beat it, and not to have fun. Since it seems like the future expansions are aimed more at PvE'ers, I hope they make the world much more open-ended (like pre-searing was.)