Astrobot 1 was a fantastic experience on PS VR. Astrobot on PS5 is probably the most fun tech demo I've ever played, but it's definitely more of a tech demo. That said, if they take what they did with the tech demo, but expand upon that significantly like the trailers suggest, then I think Astrobot could get low 90s easily. I also think Sony wants that critical acclaim too, so they are going to be pushing the highest quality for this release that they reasonably can.
That's not to say that Nintendo won't want this for Zelda, but Zelda has less hanging on the line than Astrobot. Also, I think this quirky new Zelda formula will be fun, but I have a feeling some reviewers won't take to it. Therefore, I predict Astrobot will have the higher average rating. Zelda will be high 80s. Astrobot higher 80s or low 90s.
Saleswise, PS5 owners are a bit starved for first party content and if this is quality they could eat it up. Bonus, lots of PS5 owners are now exposed to the IP due to the tech demo. I'm giving it to Zelda though, as Zelda is an established IP. Links Awkening sold, what, 7M? I'm not confident Astrobot will sell 7M, but I think Zelda can.
So, Astrobot gets critical acclaimed and Zelda gets sales for me. Would be great if both were even though and sold 20M and got 99 meta lol