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I'm 100% certain that the open world, BotW formula is the main formula that the franchise is following from here onwards, and the next game in that formula is most likely in development, I'm sure, whether it is a Nintendo Switch swan song or a launch title for their next system somewhere between 2022-2024 is what I'm still not sure of.

That said, I still think there's a place for the classic 3D, Ocarina of Time formula and would love to see a game of that style for the Switch along with a top-down 2D, A Link to the Past styled Zelda game. I think that would be a cool thing for the Switch to have one of each styles that Zelda is known for before moving on to their next system.