Recently I bought Starfox Zero, it pretty much looked as to be expected a direct sequel to Starfox 64. Played starfox 64 a lot as a child, it's probably one of my most played N64 games. It's got great replay value, trying to get to Venom in the hard route always tormented me but it was very enjoyable and rewarding to destroy Andross in his true form and not let him Laugh in your face if you completed the medium and easy routes.
The motion controls or controls of the game aren't as bad as some articles online would let you out to believe. All you need is to just place the sensor in an appropriate space and use a recliner to get that authentic starship feel well not really but I think it helps. The controls are similar to Splatoon, it takes a while a learn but you'll learn fast as long as you're not jittery. The whole ZR and ZL buttons are confusing at first and if you want to do a somersault I highly advise just pressing the x button instead of the two analog sticks which feel awkward at least to me. Basically if you just want the good ol' fashion StarFox 64 style this game is for you, as expected it's a direct sequel to that game. Haven't really seen any elements of later games on it such as Star Fox Adventure(although that's probably a good thing as this game was pretty bad, tried to play like a Zelda game but couldn't pull it and the item menu and battle systems were confusing like the weird enemy lock thing when you fought those raptors). Haven't seen any mission yet where you are on land similar to Star Fox Assault but that ain't too bad.
Definitely uses a lot of things that were dismissed especially in the cancelled StarFox 2 game, and as far as Star Fox Guard goes it just seems really boring. Feel like it was more about trying to see if they could make the motion controls more appealing I suppose but it's just not important it feels crappy aside from that if you enjoy StarFox 64 love going back to its roots like the first two games you'll love this one too.