Zelda may be classified as an Action Adventure title but the way you progress through it is very RPG. You gain HP (literal heart-points) and Magic through exploring the world and completing mini-quests. You can up your defense by getting different tunics (in the earlier ones anyway) You can't enter certain areas without first having collected certain items. It may not be a JRPG style RPG or a traditional RPG in a mainstream sense but I still consider the Zelda games to be role-playing games.
To answer your question though, I'd love to try a more traditional Zelda RPG. When I say traditional, I mean mortar-board and corporal punishment; I wanna see turn based, random encounters. 4-5 character parties. Endless side-quests upon side-quests (kinda like the one to get the best sword in Ocarina of Time).