I started wanting a shake-up while playing through Twilight Princess. Link to the Past was basically my first Zelda, so I had no other frame of reference at the time. Ocarina of Time brought 3D dungeon design into the series, so it all felt new again. Majora's Mask has superb dungeon design and a ton of new features to shake up the mechanics introduced in Ocarina of Time. Honestly, I probably started getting a little tired of the traditional dungeons and structure in Wind Waker, but I was maybe too young to realize it, and the Great Sea and its exploration provided an interesting sense of novelty to distract me.
Twilight Princess mainly has Wolf Link as its new gimmick, and Wolf Link doesn't offer much new and is barely used in the second half, anyway. So, for me, Twilight Princess felt like "been there, done that," and I thought Ocarina of Time did pretty much everything that I value better. The dungeons in Twilight Princess look and sound great, but their puzzles and bosses are absurdly easy, and they're a far cry from what I consider the series' best. I felt similarly about Skyward Sword: dungeons look and sound great, but I got the sense of "been there, done that" and they were generally too easy (I was impressed by the Sandship, in particular, though). Unfortunately, Skyward Sword had a new gimmick I disliked (motion controls) and an incredibly linear and padded-out game structure.
As a result, Breath of the Wild offered the kind of changes I'd been wanting in the series. As much as I love Breath of the Wild, I wouldn't call it perfect, and I'm excited to see what Nintendo produces next (I should probably mention that I like every game I mentioned in this post, including Skyward Sword).