I don't have enough experience with old-school Zelda so I won't comment that part.
About Metroid yes, that's how I would like it, but without the drawing map thing, I think it would slow down the game pace too much, aslo it may become annoying after a while. Just make large maps with lots of hidden items, and make it challenging as Rol said.
I think 3D may be also marginally useful to gameplay experience, even in a traditional 2D metroid, for example, sometimes in Super Metroid you run into walls only to discover there's an overshadowed hidden passage behind, in these cases depht perception may work as an hint, another more obvious use may be enemies and bosses (I think of Ridely) attacking you not only horizontally and vertically but also from the background to the foreground (ala DKCR)
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