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The stories have always been a bit of a mess, like they had a list of words they wanted to get in somehow and made it up as it went along. E.g. Shagohod. MGSV just takes this to a new level.
Really fun game though, don't bother trying to be too stealthy on the first play through because there's load of shenanigans to be had with explosives.
MGSV is probably best appreciated by someone new to the series. Mechanically amazing, the storyline is a complete mess and struggles and fails to tie the other games' stories together.