I kinda see where you're going with that. You want Metroid in your Zelda, basically. You want to be wandering around Tallon Overworld and see that mysterious Plasma-beam door that's higher up in the room, but you know you can't get to it yet, nor could you open it if you could.
I kinda think that later Metroid is a good model there. Metroid you always knew where you were going (except in the sequences where they sent you on fetch quests), but you had freedom to sidetrack as you went along. I hate games where you just get lost and can't find your way around. Hate it. But the feeling of discovery needs to be there too.
Monster Hunter: pissing me off since 2010.