I think this particular Zelda is especially focused on exploration (unlike the next ones until BOTW). There are many secrets everywhere, with a lot of hints given by the NPCs. When I did it for the first time 10 years ago, I had explored so much that I completed the 3 last dungeons in a raw.
If you don’t want to experience it this way, I guess you should follow a guide.
That’s exactly why I mainly play on PC nowadays. I didn’t like PC gaming 10-15 years ago, but now I love being able to play at 4K60 / 1440p60 by downgrading settings I don’t care.