Nintendo, more than any company does better with design constraints. In the past they would have made a Zelda for the home where the player has hours to solve a dungeon (say, Majora's Mask) and they would make a portable title where the dungeons take 20 minutes (say, Minish Cap).

When faced with a console that must be both a home console and a portable, how do you balance that game design without interrupting the sense of achievement or account for forgetfulness?

This is where Breath of the Wild comes from, the shrines offering bite-size dungeons and the overworld becoming the hours-long adventure. I would thoroughly recommend BOTW; its the only videogame I have ever played that truly reminded me of just hiking through the hills, curious as to what is over the next rise or around the bend.

If Nintendo won't go back then thankfully there are a plethora of inspired-by games on other platforms just waiting to be discovered:https://carlst-james.medium.com/the-8-best-zelda-titles-nintendo-never-made-891fca4867bd :)