Technically to be honest though you can make the argument the GameCube and Wii really only had about 3-4 years of support from Nintendo. They basically ditched the GameCube by early 2005 and Wii has been a grave yard for the last 18 months.
One Zelda game (or the promise of a Zelda game) doesn't constitute far reaching software support.
The reason why they couldn't launch successors is because Nintendo doesn't have the software development resources to launch a new hardware platform with a snap of a finger, especially now that they commit so much of their resources to the handheld side.
But really if Nintendo could have had software ready (meaning they had adequate amount of dev resources), I think they would have released the Wii U in fall 2011, perhaps even sooner.
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