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I guess I would go with Zelda being better suited for "adventure" and games like Uncharted I would label as "action" instead. It used to be much easier to label games between action (Castlevania), adventure (Zelda) and RPG (Final Fantasy) but these days there is so much action in many RPGs and action games have a lot of adventure in them... the lines blurred long ago. It's true the term "action/adventure" can certainly fit Zelda or Uncharted by pure definition, yet I think of those two series as very different game types/structures/experiences. Personally, I would categorize them separately but if you wanted to broaden the category to include both I could see that too.