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I'd rather have a Fire Emblem Zelda clone.
Have a big hub and fill it with enemy camps, put the emphasis on taking over territory.
To reach enemy castles (proper Zelda dungeons) you have to conquer your way to their locations.
Taking over enemy camps lets you liberate townfolk and recruit new members.
You can employ your forces to protect your keeps and camps from retaliation, or you can command them while infiltrating dungeons (each dungeon run starts with a siege strike, you have to employ your units and push through once you manage that commanding them to strike specific locations or take out special members on the outside can be affect puzzle elements)
