Yup, BOTW combat is really mid imo, most of time I just avoid minions because I don't find fighting with them particularly fun. The combat just don't feel "tight" enough, they don't give me any sense of action (even less so in TOTK where I need pausing the fight to select a new fusion to my bows), the defenses and pairing time are a bit clunky. For me fighting are more fun when they force me learn attacking patterns and to master my weapons to know how to properly use them.
The good thing is fighting is indeed mostly optional, so the boring fighting never bother me at all. The occasions I need to fight are so sparse they actually become a bit more enjoyable.