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hmmmm. this seems to either be PC related or keyboard/mouse related.
i use the same camera style on the PlayStation 3. Legacy is the default camera setting. i can zoom the camera all the way out and walk through a small hall or corridor and when coming out the camera zooms all the back out again. never seem to have this problem. :/
I play on PC. Standard when zoomed out, put it in front of a rock and move, it automatically bounces back rather quickly. When switching to Legacy hitting a wall in which it zooms it all the way in will cause it to get stuck. It thinks this is the fully zoomed out distance, because generally you have to scroll in (just 1 tick) before you can start zooming out again when using the mouse wheel. I run and turn my camera using the mouse (left+right MB to run, just right if I only want to turn the camera). Those are some more specifics.
Hello! I apologize for the inconvenience the legacy control scheme is causing you. As this is not technically a bug report, I'll have to lock this thread down. But I have good news! There's a place for problems like this, which can be found Here! Please consider making a post there, as it is more likely to be properly addressed. Thank you!