It's a very plot-driven story with very little deviation from the main mission. I loved the show but I agree that the plot is especially linear (much like a video game) and without the in-between bits where you'd be playing the game in the original story the pacing can feel rushed.

I think the show could have benefited from more time with Joel and Ellie to develop their relationship but I don't know how they could have done that without bloating the story with filler that wasn't original to the game, which would not have gone over well.