Basically, BOTW is "poetry" because it is heavily vibes based, at a time when a lot of games are "story" based. My most memorable moments of BOTW are exactly what you described, standing on plateau watching the sunset, walking towards hyrule castle in the rain, finally ready to face Ganon and the zelda theme starts to play, etc, etc. Not specific story reveals but the moment to moment feelings that originate organically from the world and the unscripted interactions and events occurring within it.