dtgreene: Personally, I find this not to really be the case, at least not for most games that are called RPGs.
Leroux: Unless I got the wrong impression of your views in past discussions, I'd say that "games that are called RPGs" and games that
you would call RPGs are two entirely different things. In any case my definition is probably much wider than yours and the games we prefer and play, regardless of the label, are not the same. Here I was mostly thinking of PC games from 1998 - 2016, the story-oriented ones with lots of smaller quests and smaller areas to explore, no console JRPGs, no classic WRPGs from the 80's and 90's, no random combat, no grinding, no mega dungeons.
To me, my notion of RPG happens to exclude games like Zelda 2 (and the entire Zelda series, actually) and Secret of Mana, which I happen to consider to be action games. That, of course, doesn't mean they're not fun (I believe I mentioned Zelda 2 being a good game where it feels I can get a lot done in a short amount of time); I just don't consider them to be options when I am looking to play an RPG. (Maybe I need to replay Zelda 2?)
The problem with the games you are thinking of, from my perspective on this topic, is the following:
1. When the quest is small, it doesn't feel like much has been accomplished. It's only when I can complete multiple major quests, those that contribute directly toward the completion of the game, in the space of a half hour or so, that I feel like I have accomplished a lot in a short time.
2. When a gaming session is spent primarily with story sequences, it feels like nothing has been accomplished; when I am looking for a game to play, having to watch story sequences just doesn't feel fulfilling to me.
3. Sometimes, I want to have fun *without* progressing the game or consuming side quests. That's why I sometimes like to have options for what you are calling "grinding" (I prefer the older term "leveling up" for this sort of thing). (Remember, side quests are usually in finite supply.)
Side note: as an addendum to 3, I prefer games where town NPCs you kill respawn when you leave to those that keep track of which NPCs you've killed longterm.