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The Oracle games are good for this, especially Oracle of Seasons imo.
Wind Waker and Twilight Princess both have enjoyable overworlds, but I'd suggest you play the HD versions if possible. They both have QoL upgrades that reduce minor annoyances and tedious parts of the original games. Plus, TP has the best dungeons and bosses in the series.
Minish Cap is quite good, shame you didn't like the aesthetic.
There is also Blossom Tales, it's a fun little Zelda-like
And Ittle Dew, altho that one is definitely a little weird and zany for a Zelda-like so I'd watch some gameplay before buying it.