Personally, I don’t think Co-Op will be Freelancer based, but the pre-alpha mode had objectives based like Freelancer.
Take a look at this post from a few weeks ago. Not sure if you saw it?
What we saw on that brief gameplay is not what we’re actually getting, so what appears to be the Freelancer type objectives, that’s not the actual mode we’re actually getting. That’s certainly how I read it anyway 
I have faith IOI will deliver!