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Mythmaker1 said:

Because each Zelda is built, more or less, from scratch. New assets, new art-style, new controls, new engines, and so on. That takes a lot of time.

Many sequels these days are built using similar engines or recycled assets in order to save costs and time.

And even then, annualised sequels are done by different teams each year since these take roughly 3 years to make even with all the asset reuse.

4-5 years is actually the time any AAA game takes to be made nowadays; the more plot and the bigger the world and the more things you can do in that world the longer it takes.