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I'd say the Wii, though now over a decade later there are very few motion control games even on the Switch, which is unfortunate. So while Wii was the most innovative system ever it's innovations have faded from relevancy quite a bit now.

Switch obviously gets a nod, and I think it's creation of the hybrid system will last as it is hard to see why Nintendo would ever go back to a standard home system. It's not exactly revolutionary tech like Wii was, since tablets have been around a while, but its the combination of tablet, detachable controllers, and hybrid-ness that make it stand out as innovative.

N64 brought analog stick and rumble pak to video games, which have both become norms (z trigger was pretty freakin awesome too). Though honestly it was the software and the jump to 3D that makes N64 feel so revolutionary so I'd say the system itself was less so.

NES created the modern video game industry so it definitely belongs up there.
GB pretty much created the handheld industry.

Overall though I'd have to say the Wii takes the cake.