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Neither did GT5. Many people forget that PD released GT HD Concept as well as GT5 Prologue all well before GT5 was launched roughly 4 (!) years after the PS3 launch. They had plenty of time and opportunity to get to know the hardware, as well as the public reception on the Concept and Prologue. And I'm not even mentioning all the other 1st party developers that managed to get out great (sometimes multiple) games in the same timeframe. IMO, GT5P was the most well-rounded game of them all, though lacking in amount of content of course.Unfortunately, GT6 doesn't have that "first game on new hardware get out of jail free card", hence (at least most of) the complaints are now justified.
That said, both GT5 and GT6 sold a lot of copies, so they're both commercial successes. I'm just thinking about how long PD can get away with releasing half-baked ideas. If they really want to pull off their 'GT as a platform' strategy, they need to please both ends of the spectrum; not just the companies providing VGTs and GPS integration features but especially the customers buying your product. If the latter go away, there will be no more companies investing in it either.