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According to the credits, the remake was developed in-house by Retro themselves, though as is usual for modern games, development was also supported by some outside studios, including Iron Galaxy, who previously handled the Switch ports of Skyrim, Diablo 3, Overwatch, and Dauntless:

https://nintendoeverything.com/retro-studios-made-metroid-prime-remastered-but-iron-galaxy-and-others-involved/