Did Alien: Covenant really feel like a direct sequel to Prometheus?

I loved Prometheus for the simple fact that it was different. It was a breath of fresh air from all the prior alien movies such as resurrection and the AVP movies that made the aliens feel less threatening and mysterious and more of a saturday afternoon SYFY channel movie. The mystery surrounding the engineers, the 5 temples that I counted when Prometheus landed on LV-223, the outbreak, the head in the ampule room, the stacked up dead engineers and so much more could have been more focused on in this new installment but was ignored. It's be 5 years since Prometheus so I guess I was expecting more than what I saw. AC is an ok movie but it's just that. An ok movie. I thought Ridley would have given us something epic with so much time in between films and the way Prometheus ended. Another thing is and some people might be ok with it is the fact that David is the creator or co-creator of the xenomorph. Something so out of this world, so beautiful but yet so terrifying. Something so unimaginable, mysterious and so sinister could come from an androids thought process. Just my opinion but they should have never gone down this route with the story. With that being said Prometheus wasn't the greatest movie of all time but there were so many avenues AC could have built off of that movie. I hope awakening goes deeper next go round.