Keep in mind that while we have a Hylian, Sheikah and a human from a neighboring kingdom who has a blood tie to the Hyrule royal family, the other two party members are a Goron (me) and the male Gerudo of his generation.
The human princess was just sufficiently good at bullshitting that the footsoldiers were like 'well, I don't think we recruited a Goron, but maybe someone did' until we got to someone in charge.
(The human is also the Emergency Backup Hero because the gods weren't intending that Link be reborn yet, but they needed someone who could wield the Master Sword. So add in that the Master Sword is disguised as the party bullshits that, no really, we are new recruits.)
It was. A good D&D game (IMO) should be a mix of 'this is serious business and we are being serious' and 'this is just a day in the life of adventurers, and doesn't have to be serious'.