Destiny does give you options, but you just choose not to use them. If you only play with your "best" or "preferred" weapons and armor you are just minimizing your experience. Try playing with weapon classes that you are not as comfortable with, or using play style that you do not prefer. Downgrade your armor so your light level is below your max so you can run a nightfall or raid at a disadvantage. Once you max out a weapon, don't use it unless you think you need the extra firepower. Run the raid without using any heavy weapons at all. Etc. Half of the stated repetitiveness is because you are playing the game the same way.