Outside of the SoT I mostly play RPGs and I really wish SoT felt more immersive. Walking around Port Merrick and other Outposts they just don't feel very alive. It would be cool if Rare made the experience more immersive so as pirates we aren't just running around the outpost looking for what's in the barrels before we leave, but instead can actually hang out there and do stuff alone our with friends, such as:
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Have games in the tavern (darts, five finger fillet, dominoes, checkers, cards, etc.)
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Have more interaction from the Tavern Keeper (you sit down and they come over and ask if you want a drink, or piece of cooked meat). Could take it a step further and have items that will give you a small buff during your voyages. Maybe you can ask for gossip and they'll tell you about the current world event. Or add a group of musicians playing a shanty similar to Athena's Fortune Hideout that you can play along with.
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Have other random NPCs appear in taverns or around the towns/outposts. Maybe you talk to one sitting at a table and he gives you a generic quest similar to a message-in-a-bottle. Maybe another is selling food from a cart and you can only buy 1 but it fills your health regeneration bar.
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Give NPCs a sense of routine. I get that to find them on certain islands they have to just stand around in one spot but maybe during the morning they are found in one area doing a task and in the evening they are found somewhere else (like sleeping in a hammock at night).
Or add things to make the world itself feel more lived in
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Add immersive quests (you find a survivor on a shipwreck and have to give them a ride back to X Outpost. Along the way they can man a cannon or play a shanty, etc). Maybe add shipwrecks of Sloops and Brigantines instead of always Galleons. Or on random islands you might come across some NPCs burying treasure, or they've taken someone captive you can save, or some other activity you can interact with and choose to leave them to it or fight.
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Create an NPC merchant ship world event (that can be active during other events) that sails in a pattern between outposts and you can fire at it and board (similar to how the Burning Blade gets defeated but doesn't sink immediately) and then you can loot their treasure without sinking them, just like real pirates did. Maybe it spawns with different difficulty levels and sometimes has an escort ship.
These are all just random thoughts because as beautiful as the Sea of Thieves is to look at, it often feels kind of empty.