Free roaming adventure games exist...they are called RPG's. I think that one of the major things an adventure game has is its tightly controlled story. When you add in the free roaming environment, you have to sacrifice elements of the control that you have over the story.
What you will be left with, at best, is a watered down version of both genres. A not-quite-good RPG, and a not-quite-good Adventure Game.
Designers could give the illusion of freedom tho. Having a city that you can fully explore from the get go could be done. So an adventure game where every location is accessible without having to go through a challenge/puzzle/story point to get there.
I cant help but think that that would be quite a boring game tho...the joy of an adventure game is discovering a new area. Just being able to walk there would kill out a lot of the feeling of 'unfolding story' you get in an AG.
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