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I've started to looked into this since support for basemap is officially vanishing in 2020 along with the deprecation of Python 2. Some issues (of widely varying severity):
The structure of cartopy is quite different, returning various objects that are passed into matplotlib axis. This will require some fairly major restructuring.
Development of cartopy seems a bit scattered. It is unclear how stable it is.
Cartopy doesn't have the McBryde-Thomas projection that we've come to know and love in DES.
Basemap is now deprecated in favor of cartopy.
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