I agree that it wasn't very Zelda. Even since Zelda 1, full-fledged dungeons were a thing. I would hardly call the Divine Beasts dungeons, and making Hyrule Castle 100% climbable ruined what could have been an epic climax. I wanted all my work to be cashed into a 3 hour expedition into Hyrule Castle, but all I got was a brisk climb followed by four cheap dungeons shooting Ganon's weak point for massive damage.
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