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I'll acknowledge that Nintendo SDP has a role with developing 3rd party titles. But it looks more or less like it does with Bayonetta 2, not really anything major.
By supporting, it means more like giving them the funds and resources they need to develop the title, along with pitching some ideas and techniques that will help the game move along and showing them ways of developing for the Wii U to take advantage of the Wii U's hardware. So they are partially to blame for this.

However, the majority of the development responsibilities still falls on Valhalla. Because, after all, it's their game, thus they are the primary developers. And they had 3 years to make it good on the Wii U, WITH Nintendo's help, they had more than enough time and plenty of support. And they didn't deliver.
Plain and Simple.