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There's plenty of direction and goals in Tears, it's simply directed by gameplay more than story, like other Nintendo games.

There's a literal main story with objective markers and everything that you can follow through in an entirely linear fashion if you want to, but there's also shrines, there's sidequests, lightroots, towers, korok challenges, wells, caves, if anything the sheer amount of goals can be almost overwhelming.

The trick with Tears is not to overthink it; don't worry about optimal efficiency, just go with the flow.