If you are on FW1.0 you will have soon a way to do it without having to inject crap or use jigs\hardware mods.
If you are up to FW 3.01, there is something known, but not released and probably not that soon (remember theres always a chance of never too).
Above 3.01, up to FW 4.01 theres also something known, but unreleased which probably still require RCM and jig once (its just my speculation, no idea whatsoever), however is already way harder than the 3.01 method and might take ages for someone to leak its info or make use of it, it might also never come, but at least we know theres is something.
After FW 4.01, there isnt anything reported by anyone, which doesn't mean someone might privately know something or that later someone find a new exploit, but the chances are a galaxy far, far away 4 now.
ps: Someone please correct me if I'm wrong!!!
EDIT: Forgot to say, BEST TOP killing way of hacking the switch at the moment is really with a hardmod modchip soldered inside the switch which automates everything, it will enter RCM and send the payload by it self and then goes to standby, other than this you have to either use a jig every time or mod the joy-con or console rail to enter RCM (or use autoRCM) and send the payload trough USB everytime you boot the console from being powered OFF...