Link Between Worlds brought this back to some degree. You're on rails at the very beginning but after that you're free to tackle most of the dungeons in whatever order you like because most of your 'tools' are available very early on.
you could go into the dungeons out of order, even with a wooden sword
Or without one if you want. You can play almost the whole game without a sword (You just need it to beat Gannon): https://www.youtube.com/watch?v=6n2_gJjrKioThe "spiritual successor" to 'The Legend of Zelda: A Link to the Past' (my first, and still favorite, Zelda title).
I was quite pleased with A Link Between Worlds after my disappointments with Skyward Sword (I love love love the art style, but disliked the game due to motion controls) and Twilight Princess (I felt they dropped the ball on Wolf Link, the game felt too linear and Wolf Form was mostly used for bug hunting...)
Starting with the 3D Zelda, Ocarina of Time, the franchise changed and became less open and, in my opinion, lost some of it's simplicity and brilliance. It was good in other ways, but I felt it lost something, even if just the more complicated controls, fixed camera, and decrease in art direction/quality. I can understand that considering the switch to 3D it was the best they could do, but still. I missed LTTP. Wind Waker brought some of that old charm/freedom/simplicity back, and Breath of the Wild seems to have gone all in on these things.
Similarly, I loved the 2D Mario games, and even though I also loved the switch to 3D, I had the same issues I had with Ocarina. For the most part these issues became bigger with Super Mario Sunshine (more complexity, less simple beauty in art and gameplay), except for one thing: the (very difficult) abstract acapella levels. Those gave me the same kind of enjoyment that I'd felt with the SNES mario games. I get the impression that this was a very common sentiment and that as a result, Mario Galaxy felt much more like these acapella levels and the old Mario games.
Unfortunately my favorite franchise, Metroid, managed fine even in the (spectacular) transition to 3D, and went downhill from there. I'm hoping that on the Switch they will do something similar to that franchise and somehow get the magic back of Super Metroid (and the first Metroid Prime).
https://www.kotaku.com/our-first-good-look-at-dragon-quest-x...