So at one point or another, almost all of the Giant Bomb crew have said "I hate the term Metroidvania" before proceeding to then use it (see: today's Bombin' the AM) because people understand what the term implies about a game and the guys lack a better term to concisely impart what it means.
So can we fix that? Probably not, "Metroidvania" has too much momentum to stop at this point, but it's fun to try anyway.
My personal suggestion: Ability gated action adventure.
Not too much more of a mouthful and Metroidvania, and I don't think it sounds particularly awkward when you say it out loud. I admit AGAA is a lame acronym though.