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Changing the quest structure would probably be the main thing. Changing quests from "things someone asked you to do" to "things you decide to do" would make a big difference.

For example, say you stumble upon a cave. You go in, take a peek around and nothing happens, so you leave. Later, you get to a town and someone in the town then tells you that something is happening in this cave, which triggers something to happen. You then go to the cave, do the thing, go back to the person and complete the quest. That is the old system.

The new system would be stumbling upon the cave, and by exploring it, events trigger. The "quest giver" would be the map (or the monster, or even your own curiosity), which you could only fill out by exploring, and the quest would be explore. This presents a world that is based more around exploration than errands, and gives meaning to your exploration.

However, the main issue will be spacing these challenges and making them different. I am personally worried that Zelda U will feel barren, with a few interesting points sprinkled over a stock landscape. Finding the right pacing to make the game exciting is the most important thing to me.