Nintendo can make various different models basically with little/no R&D cost, the decision to go with Nvidia and use a non-custom chip has advantages.
If Nintendo wanted to modify their older chips, it would come with a high R&D cost because no one else was using that chip.
With the Tegra chips, Nvidia is already doing all the R&D for them, like Tegra X2 (Parker) already is finished and Nvidia is already working on Tegra X3 (Xavier). Nintendo can just pop those chips into their system and it'll basically work and they don't have to do much/any work.
So they have hardware options now far beyond what they had in the past, I will be you money there are multitude of Switch units in their R&D lab that have different chips in them including that Tegra X2 already.
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