I tried to bridge the gap between Drakengard and Nier. Conclusion: I don't think Kojima has anything on Taro. Though, Taro do use multiple endings and parallel world bullshit to pretty much give himself a lot of freedom in what he can do. It also makes it very convoluted.
And yeah, drama CDs, printed material and even a stage play. The above video goes through the line to Automata.
edit: Oh yeah, if you look at some of the stuff in detail like in the wiki, it can get really bizarre. Like, why do Intoners have such high sex drives? You can argue about in-universe explanations (consider whom Intoners represent) but you can easily pin it on fan service and Yoko Taro. It launches thousands of ships filled with fan art which you can compile in a zip or website that can be sent to Yoko Taro himself to share with others. He's a mad man, I tell you!
But yes, in universe stuff... weird. The Gods are incompetent as fuck in destroying humanity.