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Everybody is innovating, not just Nintendo, and Nintendo was innovating before the Wii/DS days.

3D graphics was an innovation
Joystick on controllers was an innovations
rumble was an innovation
Online gaming was an innovation
Disc based consoles were an innovation
Digital games was an innovation
being able to read a CD, DVD or bluray  was an innovation
Making an affordable 4k console is an innovation

And so on and on, but a good innovation is one that doesn't jack up the price, that will actually be used by gamers, and that won't force the system to have poor graphics.

Nintendo used to know the balance, between all this, and then the Wii came.