Do you think that Dark Knight Rises has a better mature ending scene than that of Avengers Infinity war?

I don't think that it's remotely sensible to compare the endings of The Dark Knight Rises and Infinity War, because they are trying to do different things injustice 2 joker costumes.

The ending of TDKR is the very end of a trilogy, intended to wrap up the main characters' journeys and hint at the possibility of the story continuing without them. It does that very well, well enough in fact to gloss over some of the weaker points of the rest of the film. 

The ending of Infinity War is not an ending. It's a midpoint. This story is not over, and these heroes do not get to ride off into the sunset, because the villain has achieved his goal.

If anything, the comparison would be with the scenes in TDKR where Bane defeats Wayne and leaves him to rot in the prison.

But even in that context, I wouldn't compare them. They are trying to do different things .

TDKR is not more “mature” as a film. It is still a film about a man who dresses up as a bat to fight crime, and he doesn't even have the excuse of having special abilities. But it pretends that that isn't an inherently silly central premise, and then proceeds to take the rest of its world completely seriously green arrow and black canary costumes.

(That approach works well for Batman when he stays relatively grounded, with similarly outlandish but equally human villains to fight, but it falls apart when you introduce more powerful characters, which is why the DCEU is so troubled tonally.)

The MCU has taken a different approach. It has embraced the inherent silliness of superpowers, made them big and colourful and put them in a world where people just accept that they exist. And then it's concentrated on giving its characters relatable journeys and threats that have meaningful human consequences.

TDKR is trying to make you believe that a man actually could dress up as a bat and fight crime. The MCU is trying to make you care about a billionaire in a tin can, a god of hammers, a man with serious anger management issues, a talking raccoon and a trisyllabic tree once upon a time costumes for halloween.

These are different aims. Neither is a particularly “mature” concept. Both are executed well and good fun to watch, and that's all that really matters. 

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