Nintendo calls it software/hardware integrated solutions.
So when designing a console, they are not doing it in a vacuum and do create games that use specific hardware futures. Or create specific hardware features because of new gameplay ideas. It's a parallel process, not one comes before the other.
So there is some truth in it, but I don't think they design a console with solely Nintendo games in mind. For example, they would design the console in a way that it's easy to work with for other developers. (not always successfully in the past mind).