I see nothing wrong with the lip syncing and find that the facial animations actually do a good job of conveying genuine and sincere emotions. At least they don't have a blank expressionon their face as if they are staring out into dead space like in Mass Effect Andromeda. Giant Bomb just gave that game a 4 out of 10. Ouch!
This is my GOTY right here! I mean this game had every reason to be cheesy as hell, you fight giant mechanical robots for crying out loud lol. This game wasn't even on my radar up until two weeks ago and boy am I glad I picked it up. Guerilla Games did an excellent job creating a very gorgeous and believable world with characters that you actually care about. Just finishing up the remaining side quests before tackling the final mission.
Speaking of side quests, I know that The Witcher 3 gets a lot of praise for it's side quests. HZD could have easily had a bunch of kill 10 robots or fetch 10 robot parts quests but instead they were varied and with every character in the game being voice acted, even the side quests. Now the hard part is going to be waiting a couple of years for the sequel.