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It's definitely inspired by Zelda, but as the years went by Zelda games strayed much further from what the serious seemed originally about: adventure. While not maintaining to the Zelda "formula", Dark Souls seems much closer in form to the original focus of the series.

That's... what side-quests are. They're optional things that pad your experience. Villages in Dark Souls are as much as background tool as they are in Zelda, and the items are more story-focused than Zelda (putting much more emphasis on coherent lore than Zelda does). Structurally, Dark Souls...

It feels premature to claim that designing a Soulsborne game with an open world in mind will somehow make the game worse. Additionally, the Soulsborne games have all those things you mentioned: villages, sidequests, mini-stories, and items. Heck, I'd go so far as to call those in Dark Souls more...

I mean, we haven't seen an open world Souls game yet. Dark Souls is the obvious comparison to Zelda, because its structure isn't too dissimilar from the average Zelda game's. It features a segmented open world, dungeons, and big bosses at the end you can fight. It doesn't rely much on puzzles...

It's closing the gap, but in a different sense. Breath of the Wild is a game that, following its tutorial, has the good sense to shut up and assume that the player has pushed an analog stick before. It's a world that doesn't talk to you a lot and is entirely hostile to you. Dark Souls has...

I'd argue it's somewhat the opposite. FromSoftware has been leagues ahead of the rest of the Legend of Zelda series, with Breath of the Wild being the only game that dares step forward and try to close the gap.