Yeah it may not be exactly what you're looking for. It does open up a smidge compared to fusion and is more hands-off but it's still really hand holdy.
Instead of talking to a computer who tells you what to do and where to go, you're stranded on zebes but the
Chocobo Chozo Statues/Save Points serve as a form of indicator as to where you're supposed to go next.
it doesn't really give you much more indication of where to go other than the yellow/red dot, though. Exploring still is involved but if you managed to make it through at least one non-linear metroid game than you'll probably find it too hand-holdy.
Now, instead of Zero Mission as your next playthrough, might I recommend Another Metroid 2 Remake (AM2R)? If you haven't played that yet you'll probably have a blast.