The Last of Us Part 2 and Ghost of Tsushima have more interaction and movement on the environment and they run on ancient PS4 hardware.
Both games for example have less things happening in the same time also both run in 30 fps and requires a quantity of human work
like few in the industry are able to deliver so was not free and even then when I love the graphics of both any have for example reactive trees as a game
like crysis have in more a decade ago.
Don't confuse I don't say is not possible but all your see in physics still limited in the games you mention just for the fact is to heavy and the people
who made each game know how hard is to do it, just ask the engineer of Naughty Dog who wrote the code for the rope.
The problem with Halo is... the marketing, they are the guilt of we expect a game who use the new hardware to its limits I will not blame the people of
343, I am sure they do the best they can but in the end this most powerful thing which love to say to Phil well have this problem with titles crossgen.
The quality of work of Naughty Dog in creation of characters and animations between other things is absurd high probably only have a Rockstar as equals.