Is Twilight Princess the worst 3D Zelda?

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No. The worst is The Wind Waker. Zero challenge in the game and the weaker dungeons in the series. Twilight Princess is good but very overrated.

Overworld is big but linear, just long corridors. Dungeons are big but linear, without any difficult and predictable puzzles. The items are a joke as you only use in the dungeon you got it. Enemies looks great but play dumb. No magic. And I loved the wolf sections. The first half is almost perfect, then the second half is a terrible copy paste of Ocarina of Time.

Skyward Sword fortunately fixed many things like an explorable main area before dungeons with a lot of puzzles, many of them new ones or more interesting. You use your few items a lot in every part of the game. Unfortunately, it was even more linear than Twilight Princess.

Ocarina of Time and Majora's Mask remains as the best Zelda because it had a lot of great puzzles and well designed dungeons. Not the jokes we get today with a lot of hints, like in Twilight Princess.