In Elder Scrolls' case, it's not just the map they need to work on to escape that critique, sadly. They need to come up with a melee combat that actually feels good to play, instead of the grindy "wail on your enemy until he drops dead" crap they've got going on.
They also need more insteresting quests with unique storylines. Some are pretty memorable, like the "Dude, where's my staff?" one, but sadly they're few and far in between. That's the kind of quest the games need more of. But the vast majority of quests they hand to you end up being the typical "go to generic cavern or fort, slay some generic zombies or bandits and retrieve the generic item that the generic quest-giver wanted you to find". It's boring and cookie-cutter.
They need to give the impression that the world is actually changing as you keep playing. There should be some kind of fame system that determines how NPCs react to you. Word should spread that you are the Dragonborn, leader of factions X and Y and Z. Bandits should recognize that you're the guy who trashed their base not too long ago and stop bothering you. People should give you presents if you do something nice for them, and that's something that already happened in FO3.
Imagine going through Valtheim towers for the third or fourth time and the bandits there go "Hey, this is a toll road! Pay up or... oh shit, he's the guy who fucked up Larry's crew! RUN FOR YOUR LIVES". And after that they should let you pass without incident.
Imagine going home after a few days of adventuring and finding a bottle of Alto and a pouch with gold at your doorstep, with a note saying "Hey Dragonborn, I heard you killed the bandits that terrorized the road to Whereverthefuck. They were a problem for travelling merchants such as myself. Here's a token of my appreciation, bro".
Bethesda really should take a few pointers from Dragon Age, Dark Souls and the Witcher.