Honestly, I would have preferred a more balanced approach. The game as it exists now feels more like a sandbox game like Skyrim, where as you said, most of the content is optional. In a game like Skyrim or Morrowind, you can skip much of the story, and it's possible take a different route through the game and have a different experience each time.
While I appreciate BoTW for what it is, I've never really liked this approach. In fact, I've never played an Elder Scrolls game to completion because I get bogged down halfway through not being sure what to do next. I have a bad feeling that I may play this game off and on while never beating it because, like Elder Scrolls, it "gives me enough rope to hang myself," and doesn't really keep a goal in focus.
It seems like they've never really gotten the formula right since Twilight Princess, honestly. I would say that Ocarina of Time, Wind Waker, and Twilight Princess had a very good mix of required content and optional content (with Wind Waker being my favorite game). Majora's Mask was the one exception from that period, and is actually the game that reminds me most of BoTW (other than the original LoZ)... nearly all the content is optional, and you could beat the main story fairly easily if you skip around avoiding sidequests.
Skyward Sword actually made the opposite mistake in my opinion... it was very linear to the point that the game world didn't seem to "flow." I mean, arguably so were past Zelda games, but it was more obvious in that one because the main hub world was so detached from the main areas where the game took place. This was rightly criticized, and Nintendo took it to heart so much that the next Zelda game was not linear at all, and did nothing but flow. Which means the story suffers.
I would prefer to see something that's a bit more open than Skyward Sword, but with a stronger story and a little more hand-holding than BoTW. What I like about BoTW is the number of different clothing options, the large world, and the amount of optional sidequests. Cooking, climbing, and stamina are also good mechanics. But I really don't like weapon damage and shield damage. I think they need to dial back the realism a bit in order to keep it from being overwhelming.
The one word I would use to describe this game, and someone else used it first, is overwhelming. That's honestly why I almost don't want to pick it up again... I get so overwhelmed with information/options, and I wear myself out trying to sift through everything. Honestly, I'd probably be fine if I just followed an online guide from beginning to end, but I don't really want to do that with this game, because it would really change the experience of the game compared to what was intended. In a more linear game, a guide doesn't matter... but in one like this, it could change the whole experience.