I'm not even close to finished with Breath of the Wild yet and I've spent a good chunk of the past three days playing it so I might change my mind with some distance, but I'm having some trouble imagining where a Zelda sequel goes from here.
Breath of the Wild has a lot of things going on, but it feels very reliant on the basic explore/climb/scavenge mechanics across such a massive game - although they work very well, it seems difficult to revisit them in a sequel without hugely diminishing returns because of how prevalent they are. The game seems less about its environment/puzzles/enemies like previous Zeldas than it is about the way you interact with the environment, so short of some drastic changes to that interaction, I don't see how they can do it again because it's not just a matter of making a new map and new dungeons with new items and a new gimmick (which I realize vastly simplifies how previous Zelda games were made, but the core idea here is that they were more about the stuff you interacted with whereas BotW is about how you interact).
So I guess my main takeaway from Breath of the Wild is that it seems like less of a new direction for the series than it is a rejection of what Zelda USED to be; in the future, to me, it seems like they're less committed to the Breath of the Wild path than they are just more open to experimenting with what it means to be a Zelda game.
I think a return to the things listed in the OP would be super fucking boring and disappointing and I really hesitate to even say "this is what they need to bring back," but I guess the idea I have for where to go from here is to go the Majora's Mask route in a way. I think they could apply all the detail they've spread out over the giant map and distill it into a much smaller area, with a very intricate town (or towns) while also expanding traversal options and approaches to enemies and overall providing more ways to interact with the world.