Put a lot of time into Legends over the weekend. Overall my opinion is it's very, very good. I was expecting a lot more of the mechanics from the single player to be stripped out but they kept most of it intact (even if certain things are regulated to specific classes). Co-op story missions are mostly clearing camps but there are new enemy types and objectives to mix things up. They got a lot more creative with the scenery and enemy types given the setting, so you get some more interesting combat scenarios and light puzzle solving that was absent from the campaign. You're regulated to one of the 4 character classes at first but they unlock as you level up. It's standard diablo style loot. You can spend your currency to level up you stuff to your current level or re-roll specific stats to better fit your build. You can carry over equipment gained in the co-op missions into the 4 player mode so if you're struggling with one, it's possible to jump into the other to level up.
The 4 player survival mode is solid.
If you're familiar with horde modes from Gears/L4D/Firefight/Mass Effect MP, etc, this isn't doing anything revolutionary but I'm really liking it. You defend points, gain currency that can be spent on special abilities, fight boss waves and try to complete team objectives during waves for extra loot. Team composition is important so you don't want to run in with 4 assassin's and no healer or all range and no melee characters, obviously. Communication is necessary if you care about doing well but it's possible to struggle through bronze and silver with randoms.
It's easy to tell a lot of work went into this and it is super polished for having just been released. It wasn't some random thing they threw together in a few months, it's obvious this was a core part of the package even if they didn't reveal it until after release. If they add new maps, legendary weapons and different raids in the future, I can see this being part of my regular rotation for a while.