Bethesda has never been one to make Mazes. I actually hate mazes in games, but I can see where the fun is.
Well, they did Daggerfall, which was the other extreme and actually really nightmarishly maze-like.
Though I'm pretty sure there can be some middle-ground between "a tunnel" and "a horribly complex maze"

Well, you're destined to be disappointed then - the vast majority of dungeons are "lovingly handcrafted" and essentially linear. The handcrafted part and the linear part don't really relate - the dungeons are beautiful, have great art design & architecture, etc. In this, they are "handcrafted". The linear thing is a separate issue - it's clearly a design decision that the developers made early on, to make all the longer dungeons loop back around to the beginning (secret exit paths, etc), and to make them non-mazelike. But that doesn't make them any less handcrafted - they're just handcrafted in a way that you're not fond of. :shrug:
(Now, there are many variations of the "linear" thing - like huge rooms with various paths through them, so you keep coming back from another angle.. but you're still progressing through it from beginning to end. Not all the "linear" is a straight hallway.)
Yeah, well, I noticed it's not strictly speaking a straight hallway, but it works just like one : you just follow the rails without having to think about the path for one second, never to wonder where you are, and never looking for shortcuts, hidden passages or treasures and the like.
I find this kind of design reeking of lazyness and deeply boring, and frankly it's rather jarring in a game that is supposed to be all about "non-linearity".