For me:
- several large dungeons
- collect equipment as a form of progression
- metroidvania-style exploration using equipment/abilities
BOTW and TOTK miss all of that with the Divine Beasts/Temples being a poor substitute for dungeons.
My favorite Zelda games on Switch are Skyward Sword and Link's Awakening, which follow that formula, and my favorite overall is A Link to the Past, and each of those demonstrate what I'm talking about.