That's not really true, though. Upon leaving Windfall, the King of Red Lions will tell you that 'it's best that we stay on our path from now on' when you go to Dragon Roost, then Forest Haven, then Greatfish Isle etc etc.
It only becomes fully open when you have all 3 pearls.
even if one likes it or not, I think it has it's rightful place in the context of the series as the necessary step of progression in a different direction that Skyward Sword screamed for. It's like Porcupine Tree's In Absentia, which I'm not a fan of, but they needed to make that album to get...