Out of their franchises, the only one that I think would be able to pull it off is Metroid. Because the type of setting and atmosphere it sets, being a lone bounty hunter on an unknown and hostile planet in deep outer space, it matches more with a mature setting and tone. So, Metroid would be able to make that transition or leap easier than the other franchises.
Whereas with Zelda or Fire Emblem, they can only go so far before they are being Mature just for the sake of being Mature. At that point, it just becomes forced, unnecessary, and bogs down the experience.
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