I'm not sure how much I'd say that about Majora's Mask. I played Ocarina of Time and Majora's Mask for the first time a few weeks before I got my copy of BOTW. My experience is OoT, MM, WW, ALBW, and BOTW. While BOTW is definitely the most significant change and evolution from Ocarina of Time, that's only for a few reasons. First of all, Majora's Mask wouldn't have been a good game to constantly imitate, it's very unique and has it's own personality. Second, it's on the same engine as a previous game and not on a new engine. Third, it has probably the best new features out of the Zelda games I've played, and it has two(arguably three) different main features that completely change how you play.
I guess Majora's Mask isn't as innovative as BOTW, and it's not really a "new step" for the franchise. But it's such a big side step that it might as well be considered just as unique as BOTW, it's so different and so influential and honestly when you take all that into account it not being the new direction for the series is kind of null and void because making every Zelda like Majora's Mask doesn't make sense in the first place. Basically, it's almost an unfair comparison because BOTW's new step is a blank canvas to make endless sequels with. It's a basic foundation. Majora's Mask is a very specific work and it can't be replicated and shouldn't be.