The Main Quest vs Side Quest Dilemma

The main quest vs side quest dilemma is something that I've encountered while playing games like Mass Effect, The Elder Scrolls, and most recently, Fallout 4.  The dilemma arises because of the level of immersion and freedom these games offer, but at the same time, it can tear away at that sense of immersion which the developers worked so hard to create.  Is it a necessary evil, or are there ways to get around it?