The climbing is the least of the issue. I can bare with one small element being boring in a 60 hour game. The real issue is that they cause issues for the 59 other hours of you playing the game. Also there are few enough of them so that they all had a decent little gimick to keep them interesting. Dodging enemies, lighting thing on fire and flying up, etc. Again though, even if I agreed climibng them was bad, that's the smallest problem.
So, like I said, What Zelda does well is give the terrain clear points of interest you can actually see and aren't marked on your map so you actually look for and discover them spread out just right. Then having a reward there when you get to it. Sounds simple and easy then you play most open worlds and are greeted by empty landscapes with terrain that doesn't have even a quarter the amount of point of interest or those things are literally there only to be looked at..