I know Hyrule Warriors was marketed as a spin-off, but I agree with the sentiment of the original poster. To me, this was the next Zelda game. I know officially that is not true, and Hyrule Warriors will always be an oddity in the series. Yes, the gameplay is very different, but so is Zelda 2 and TriForce Heroes.
I do think the visual style of HW is in the same vein as Skyward Sword. There was something about the look of Skyward Sword that seemed off to me, but I think HW took that style and made it work a little better. I can't quite describe what I mean, but the look seems more consistent, so that's an improvement in my eyes.