I think the major strengths of Ico are its intangibles and aesthetics, which are subjective elements, hence the split verdicts among the gamers who know what it is. I wish that it had more status among gamers overall, but it's not that kind of game. I don't think it's underrated or overrated - those who love it love it, and those who don't don't. Few people have halfway feelings about it.
The gameplay is simplistic, but the way it's integrated into the environment is not. Everything flows and is connected in an organic way. There's no confusing menus, maps, or over-the-top attacks to distract you, and emotional content is everywhere. Each time I've finished it, I've wanted more, but at the same time it feels right and complete.
It's the game that sold me on the PS2, and to this day remains my favorite game on the system, and one of my all-time favorites. It will stand the test of time, and I wish more developers applied the same aesthetics and care to their own products.
As for a sequel, there are a couple screenshots floating around. Hopefully we'll learn more soon (E3 04, I'd guess).
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