Saros developer doesn't think Returnal 'was that hard of a game', but admits that the team 'did pay a lot more attention to the onboarding experience' for its spiritual successor

Sources: 2 articles

Housemarque says it 'hancrafted levels, art, design, and combat encounters' and 'kind of connect them in a procedural matter' to create Saros' ever-changing levels (TechRadar)
Saros developer doesn't think Returnal 'was that hard of a game', but admits that the team 'did pay a lot more attention to the onboarding experience' for its spiritual successor (TechRadar)