OP , heads up that when you say ARPG that is generally meant to describe a very specific type of game. Diablo , path of exile , last epoch , titan quest, and lost ark to name a few.
This is top down isometric view games with Diablos formula of loot based grind.
What you’re actually asking is, which of these RPGs with action focused combat do you prefer/think is best ? Zelda and ff16 aren’t arpgs, but they are rpg games with action combat.
Hopefully that clears that up more.
As for which of them is best ? I love Diablo but level 70+ in that game is a 6/10 miserable experience of no fun and all grind.
Zelda feels revolutionary and awe inspiring.
FF16 is a return to form for the franchise but misses in a few key factors like difficulty , performance, motion blur issues, consistency of facial mo cap, and quest design.
Keeping all this in mind I’d give it to Zelda. It really is an incredible game.