Not a chance. Would be cool to see a more mature Zelda game, but Nintendo would never release it without securing an E, E10+ rating
They can probably go for a T rating if they want. They did it with Twilight Princess back in the day.
I guess it depends on what kind of "mature" Zelda are you talking about. Like a dark, violent game akin to say, God of War or Last of Us?
Or a game with mature themes? If the latter, they have gone there with games like Majora's Mask.