No clue how you're experience is that way either. Having played Destiny and Tf/Tf2 on pc it's a night and day difference.
When did you play Destiny on PC? That's strange.
Really though, no clue how you got that either. I get 5-6ms ping consistently in Overwatch and CS:GO. I get 60-70ms ping in TF2 on average. Characters stuttering around the map every three or four games. Tons of rubber banding no matter where I set my server location.
Whereas in Destiny, I actually rarely - compared to TF2 or Doom at least - had "laggy" games. The issue I had there was the tickrate enabling incredibly easy trade-offs in situations where there was a clear victor. I don't think I ever had issues in Trials to be honest, while I generally had average to poor games in Iron Banner. So maybe they have something with this 4v4 p2p nonsense.
The bigger issue is how PC is going to work with p2p. I can understand why they might want to use p2p over dedicated on console even - easier data distribution and high scalability seems like things Destiny would find crucial. But on PC the lack of a neutral server will open the door to cheaters on the easiest platform to cheat on. Seems like a mess in the making.
Edit: I think a lot of this might be people seeing Dedicated Servers as being strictly better than P2P without realizing that as internet infrastructure improves across the board the gap between them - as far as performance goes - closes up fairly nicely. Again though, security issues and the fact that the internet isn't quite there makes the choice on Bungie's end pretty confusing without further clarification on how they intend to deal with some of these issues. Also, what is the tickrate going to be at launch? Tell us Bungie.