Say what you like about the series' DNA but the exploration has always been what I love about Zelda.
Whether that involved semi-open worlds where you explore, progress, explore, progress, or fully open ones like BotW where the world is your oyster. The only time I've ever hated a Zelda game is when it removed the ability to explore completely, like in Spirit Tracks. There you were literally on rails until you reached your destination and it was a tiny area without anything worth exploring.