I started playing Skyward Sword right after Twilight Princess, and I actually feel that Twilight Princess does a lot more to open up the world without making it seem like dungeon-like areas roped off into distinct sections. Sure, a lot of the field spaces were empty, but there was something to do in between each dungeon that felt distinctly un-dungeon like. It wasnt just the wolf stuff, it was the interaction with all of the characters, rescuing the kids, snowboarding to the mansion, rushing Midna to Zelda, fighting the giant Bokoblin on horseback ect.
Skyward Sword makes the game denser by having pre-dungeon dungeons, which has the effect of making everything feel similar gameplay wise, and only breaking it up with redundant fetch quests and going back to the hub to see what new sidequests are unlocked and what you can upgrade next. And those sidequests arent anywhere near as meaningful as Majora's Mask's, so you dont feel invested enough, even though the characters have a whole lot of charm.
Plus, I feel TP's dungeon design was a lot better. SS dungeons have been piss easy in comparison, and not so cleverly designed, whilst at the same time being fun as hell.
My ideal Zelda would be:
The open beginning of Zelda I.
Dungeons as well designed as Twilight Princess.
A hub as dense and interesting as Clock Town.
Between-Dungeon sections that mix Twilight Princess's grandness with Skyward Sword's density.
A Link with the agility of The Wind Waker and the combat prowess of Skyward Sword.
An integral, interesting companion like Midna.
Areas connected as in A Link To The Past and Links Awakening, instead of those bloody corridors.
A fuck tonne of hidden items that arent just heart pieces. For example, things that really benefit the upgrade system.
An option to turn off the hand holding.
The thing is, the Zelda team over the many years the franchise has been going have hit the spot for one or more, but not all, of these things, but have failed to develop a new game that amalgamates everything. Is it even possible? Sure it is, they just need to think about what really worked in each of those games, and prune whatever isnt necessary, even if it has become a series staple. For all of its forward momentum, Skyward Sword still exists in the shadow of Ocarina. Its like Nintendo are trying to replicate that success, but they cant seem to figure out what exactly it was that made it successful, so they just try the same stuff and mix it up a touch to see what sticks.
Skyward Sword is still a bloody excellent game, but it fails in so many places that Zelda has succeeded before, that I cant help but feel slightly disappointed.