Why do Nintendo consoles always release late?

[platformmaster918]

NightDragon83 said:

platformmaster918 said:
I would kill for a Nintendo and Sony market. SEGA would be cool to have back and replace MS. That way we have our competition but it's easier for those 2 to thrive. Devs would still have to compete as well so innovation would come in the most important areas. Sony would still have to upgrade its online offerings or have to lose customers to Steam.

So ever since M$ entered the console industry there's been no competition and no innovation?  Developers aren't competing and innovating because of M$?

I understand alot of people want to go back to the "good ol' days" of Nintendo vs. SEGA or Nintendo vs. Sony, but lets not kid ourselves here, they're not the only ones who have done innovative things in this industry and helped it to grow and expand over the past few generations.

they gave us achievements I guess...but they also made shooters limited to two weapons, not focus on single player, and regenarative health.  Seriously I like Halo but I hate what it's done to the genre (a bunch of samey rules for them that I don't like outside of Halo).  Overal they cut into Sony profits that could've been used to fund more awesome first party content.  Nintendo kinda has a different crowd but maybe they wouldn't have had to focus on motion if MS hadn't taken those 24 million sales and obviously was about to take more this gen.