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Each zone was seamlessly connected. You can play Dark Souls linearly, or as an open world, something I think might work in BotW 2, depending on how they design it. Doing anything on the level of Dark Souls' overworld requires stellar level design. :) If it came down to linearity vs. open...

I would like an overworld much like Dark Souls, where everything is connected, and you progress by exploring. :)