Uncharted is hardly quasi-exploration. 90% of the game is running down linear paths shooting shit and engaging in rudimentary ledge grabbing and path finding.
If you're asking if I'd be okay with a Metroid game that in combat played like a third person shooter then sure. There's room for one. But Prime succeeds because despite the first person perspective the core design philosophy in level design, exploration, and puzzling remains faithful to the Metroid formula. It's just as poignant in 2D-to-3D franchise transformations as Mario 64 and Ocarina of Time. And so an "Uncharted Metroid" has to not be Uncharted Metroid at all, but instead a 3D Metroid true to the formula that also just so happens to be third person.
Uncharted Metroid in the literal sense might be a fun game, but it will put the franchise in the same position it is now with Federation Force (though less horrendous feedback), in that fans are still not getting the Metroid game they're asking for as established by the franchise, but instead a game that isn't Metroid by design but Metroid in aesthetic.