Astro Bot is Sony's big release for the holiday season while Zelda has more competition from other first party Switch games. I think this will help Astro Bot this year. That said, I think Zelda will outsell it lifetime. Astro Bot will most likely sell in LittleBigPlanet territory and end with several million copies sold. I think Zelda will narrowly edge it out when all is said and done.
As for reviews, I think having a playable Zelda at long last will help Echoes of Wisdom, but reviewers tend to dig well made 3D platformers so Astro Bot will win on that front.