4.5 years of modelling and fussing about details. Half a year of "oh crap, our main console is tanking, we need this shipped ASAP". It shipped with a gen-old processor at the time (now several generations behind), stick drift has been exceptionally bad this generation, their online service continues to be a joke, and overall performance of the units has been on the lower side (though Nintendo consoles haven't been at the cutting edge since the N64).
Honestly, even before Iwata passed Nintendo has been stumbling even as they've been succeeding as of late, even just going by the hardware side of things.