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The real problem I think is that the Zelda team was not the size or structure required for this. People have pointed out that Bethesda pushes out open worlds much faster, averaging 3 to 4 years. But they've been at that and ONLY that since the 90s. The Zelda team has not. No doubt the strain on resources was greater than anticipated and played a large part in the delays and other problems. And yeah, a complex physics engine can be killer to work with but the end result is worth it and the items that work with the physics like the runes are super cool.