Nintendo did mention Nintendo Switch having a longer than usual lifecycle. A usual lifecycle for them would be launching a sucessor in 2023. So, by that reasoning it would be 2024 or later.
They also seem to indicate that R&D for a successor is also going to take longer than usual, so I voted 2025.
There will be a ton of Nintendo Switch revisions along the way I am sure, but a full successor seems a long ways off right now.