As someone who knows nothing about Warframe, what ideas or mechanics Destiny could borrow?
This is kind of the wrong thread, but top of my mind would be the level system. Lots of missions, all easily repeatable. You then add something that makes going back to even the lowest level missions worthwhile; Relics would be the easiest thing.
Relics are artifacts that have a % chance of dropping a few different things; there's a couple dozen types, sorted into 5 categories, so several dozen drop tables. You can get Relics on a variety of missions, with category determined by difficulty level. Even low-level Relics have worthwhile stuff in them, at least until you get all the gear. You get access to this loot by running Relic Cracking missions, which are linked to a category. Everyone in the squad selects a Relic before loading into the mission, and at the end of it, you can pick what reward you want out of everything the Squad rolled. You can also adjust the drop tables by spending a separate in-game currency to increase the chance of a rare drop.
The real problem here is that Destiny doesn't have chase loot. Having relic exclusive drops would go a ways to avert that, but fundamentally they need to totally overhaul the loot system.