I wouldn't want to predict what Nintendo will do with the series going forwards. The open seas of WW, the discrete areas of SS, the time-travelling weirdness of MM, or the "OoT model" seen in both OoT and TP are all different ways of presenting a 3D world. Given their propensity then to change this then, I think it would be a brave person who says Nintendo will make all their Zelda games "open world" from now on.