With some more TLC, open world games could be much better. If they had some more innovation in the dungeons it would alleviate the repetition.
If a player went into a dungeon thinking "oh shit, I wonder what I'll encounter in here!" instead of "time to sprint through while murdering everything and spinning the occasional animal tile puzzle" It would be a much better game. If the game is going to be open world to the scale of Skyrim, the world itself has to be able to stand alone as fun and interesting.
But even quests should give that feeling of excitement and something new. An example: the Thieves Guild is so repetitious. Imagine if a theft mission had a flow like this:
1) Find a way to get invited to a noble's dinner party
1b) Break into the party.
1c) Join the wait staff to get in.
Bam, already you have multiple ways of making this interesting. Your character is a Khajit? Yeah, you're not getting into that shit most likely.
2) Mingle with guests to get more information
2b) If breaking in, swap clothes after breaking in and blend in to the party.
2c) Sneak around and find clues/eavesdrop on people to find objectives.
Have multiple ways to complete the objective. Why not?
3) Talk your way into the room with the goal
3b) Sneak/lockpick your way into the room with the goal
3c) Trick someone into getting the item for you
4) Escape somehow
IMO this should be the average mission; not in the setting, but in the variety of choices. Every quest should not be some lame "sneak into building and lockpick a chest" or "Crawl through a dungeon while two followers clumsily sneak themselves onto pressure plate traps." It's not a complicated set up. Let the player feel clever and smart, even if they are being guided by an invisible hand.
I'm just ranting here, but it's because I really don't think that much though process went into these quests. It's all watered down and simple as possible.