I'm sure they will be able to make the next game they make better from the lessons they learned on Rage.
Doom 3 was pretty good.
Rage minus the need for more content and the ending was good
so why wouldn't Doom 4 be good?
The problems with Rage aren't just lack of content in the ending (and beginning), it reuses maps a lot, there aren't many side quests, there's very little NPC interaction, and the textures look pretty bad for it's whopping file size. In fact much of the problem is the engine itself and the use of maegatextures, which besides creating bad textures for the large install size, limit the game to no day/night cycle, a static sky, no weather effects, very linear gameplay, and few doors that open.
Since they're talking higher res textures with Doom 4, I'm guessing it will either be very short, or reuse maps a lot, maybe both. Otherwise the file size is going to be even more ridiculous than that of Rage.