Anyway, Halo did not pioneer anything. Not even vehicles in FPS games. Hell, Shadow Warrior had it in '97, and I bet other games had it before that. If you want a good example of FPS storytelling, Max Payne, (2001?) came out before Halo and has much more depth to it, especially considering we're talking about Halo: Combat Evolved, not Halo 2 or 3.
That said, unfortunately, you are correct that it did set a new standard. It actually lowered the bar on what was passable as a shooter, and encouraged the industry to head to this derivative state where nearly everything is the same. Compared to FPSs pre-Halo, I think things were much more inventive and creative. The problem is that most people who enjoy Halo have not PLAYED a FPS created before Halo, and they see the FPS genre as everything from Halo forward. And, admittedly, if all I saw was console FPS from Halo forward, I would probably respect the game much more.