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Zelda is basically a legendary franchise much like Super Mario Bros, Mario Kart, Sonic(up until the Dreamcast anyway), Street Fighter, Resident Evil, etc. I think Nintendo take their time with it because they want to uphold the quality of the mainline console series and make a mark with every single iteration they do. Sure most of the mainline Zelda games have not deviated significantly since Ocarina of Time in terms of gameplay/controls(other than the Wii's motion controls really) but each has been praised upon released.