Well, that's the problem. We're comparing their approaches when one is obviously concerned with mechanics and the other narratives. Zelda essentially retells the same damn story every time, but the games play radically different.
I'm probably one of the few people who didn't feel TLoU was that radical of a departure from Uncharted. It's a damn fine game, and I'm not discounting it, but it just seemed like a natural evolution in what ND does best. Nothing wrong with that, but people act like Sony keeps re-inventing the wheel or something.