I have yet to play a game with world so static and uninteractive as Skyrim.
You literally cannot change ANYTHING (apart from random lines guards spat at you when you walk near them and said guards' uniform.
I don't know if we've played the same game, but Skyrim's world wasn't nearly as static as DA:I for me.
It's stuff like people reacting to you stealing stuff, murdering people, breaking into someone's home, but also seeing merchants wander between hubs or patrols attacking a bandit fortress/camp, villages getting wiped out by vampires or dragons, etc. Also, try wearing certain armors when entering some cities... 
As for not being able to change anything in Skyrim... yeah, they don't let you make big decisions. It's just something Bethesda never does and the reason why their stories feel rather bland. But then again, neither did the world visibly change a lot in DA:I (some minor changes, sure. But nothing major).
None of this, however, has anything to do with the OP and the question about guilds. So back on topic:
They aren't really needed. More fleshed out area storylines on the other hand would be nice.