I feel like the DS launched at the perfect time, before the touchscreen phones took over. They probably wouldn't have happend that early without the DS.
The Jaguar had a bad launch because IBM only shipped 5000 consoles instead of 1 million and thus they didn't have the money to save the company. Delaying the console would have closed their doors and IBM failing meant they shut down anyway. This failure led to the rushing of the CD addon and the lack of an updated controller and the loss of Rayman as an exclusive mascot.
Phones didn't take over as much as 3DS just dropped the ball. It was overly expensive, tiny, and had no games. Had they launched with a $150 2DS XL in winter 2011 they would have done way better. Glasses free 3D dragged the 3DS down in much the same way that the tablet controller dragged the Wii U down. Without either gimmick both the DS successor and the Wii U would have been affordable systems.
Super Mario World was rushed? They worked on that thing for 2-3 years. It was ready for launch, and IMO is one of the 5 masterpieces of the SNES. The other four being Chrono Trigger, Final Fantasy 6, Super Metroid, and A Link to the Past.