With 3DS support being phased out, I can see a roughly annual release schedule becoming a thing.
If I had to guess, the core Zelda team will get to work on the next main entry around the time they finish releasing DLC, latter this year. If they go the Majora and Twilight Princess route of reusing the BotW engine and assets, we will likely see that entry in late 2020, maybe 2021.
In the meantime, Nintendo's going to take another stab at the 2D multiplayer formula. With the Joycons, it's to tempting to avoid. And Triforce Heroes is already almost two years old, so that's likely in development. Or if Nintendo isn't quite ready to revisit that formula yet, then we're getting a 2D Zelda sooner rather than later. Handheld 2D Zelda doesn't sell much worse than Console 3D Zelda, especially considering the resources involved. Either way, that could be out as early as Holiday 2018.
If Fire Emblem Warriors works out, which it probably will, I can see Hyrule Warriors 2 being up next, maybe in time for Holiday 2019. It'll benefit from not needing a handheld port.
Tantalus seems to have found a home porting and updating games to Nintendo consoles, first with Twilight Princess and now with Sonic Mania and Rime. They could easily be working to update Skyward Sword for the Switch. It did sell roughly 4 million on the Wii after all. That said, it'd be hard to map some of that game's motions to handheld play. Maybe they'd port the HD version of Wind Waker or Twilight Princess instead, possibly at less than full retail price?
While we're being possibly unrealistic, I want indieszero to make a Zelda Rhythm game in the approximate style of Theatrhythm. They've worked with Nintendo before and Zelda is one of the only series that deserves a music spinoff.