My point would be exactly that. Zelda games rarely change at their core, they add some new stuff here and there but core is always the same for years now. It is slowly becoming COD of RPG games and i would even argue it is so with Souls games.
First of all, is it really thaaaaaaaat bad??? I mean, you don't always need to invent something completely new to make it better, especially if core elements carried the series so far. How would it make sense to change core elements of Soulsborne games by including a difficulty for example? Zelda games didn't change that much when it comes to core elements but lemme tell you something: They made sure to create new ideas for dungeons and if you compare all dungeons, you'll see how different each dungeon is, even in the same game. Now, if I were about to explain details about those dungeons, it would break the scale of this thread for sure but really, the dungeons were the real amazing thing about the entire series. All of them are unique and special. Only Darksiders tried to use the Zelda formular with the dungeons and even then, most of their dungeons are only comparable to the weakest Zelda dungeons imo.
Secondly, BotW changed the whole formular of the entire Zelda series including my most precious dungeons.

But man, their new formular sure changed openworld games a lot. There are no longer some annoying points which show your exact direction, you can go and explore where ever you like. The entire world is like a gigantic sandbox and TotK vastly expanded upon that. There is a reason why old Zelda fans are rather disatisfied with the new formular because it changed so many things.
And once again, that's the magic of Soulsborne games. Changing it can negatively impact the series.
You'll rarely see clips of Zelda where players do some wicked shit, you'll rarely see clips of Zelda that capture mainstream public, you'll rarely see anything of Zelda outside its core fanbase.
Idk much about that but people do try the craziest shit in TotK:
Let me tell you: Such things didn't happen in older Zelda games. It only happened with BotW and TotK because the entire concept is also for the mainstream and people do not even have to play the older games to play those two games.
BG3 on another hand, crushed those barriers. You had people that never cared about tabletop RPG's or DND dive in and spend hours upon hours on it.
Tbh, BG3 seems pretty interesting so far. It's definitely in my must-to-play list.
If you were to compare BG3 with this decade of all great games, how would it fare?
I would disagree. RPG games desperately need a story, story drives the player.
Well I'm a huge JPRG fan (and imo Xenoblade >>> everything) so I'd argue with that but Zelda isn't even an RPG. It's action adventure. Always has been.
RPG without story is just smash and grab
I think you generalize this genre way too much; there's even a vast difference between action RPGs and JRPG and although Soulsborne games are technically RPG, those games made sure to invent their "own genre", making those games unique and special thus far. Or should I say sub-genre? It's kind of similar to the metroidvania games which is also a sub-genre.