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I cannot comment on Metroid, but between zelda and mario i would say Zelda.
Ocarina Of Time feels like most modern open world games. the sense of being inside the game was amazing when i first played that game. Mario's transition was good but it feels that it lost some important elements in the transition.
I think that Super Mario World might be the best game of the series but it's not a 3D game so Zelda takes the lead in this one.

I apologize for my previous off topic response.
I misread the topic.