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Software and luck.

Software, first party wise they are unmatched.

Luck due to the fact that they released the Wii and DS during a time when the market was adapting to these technologies - if the Wii and DS were to release before the 2000s or after 2010s, they would have failed or been similar to what the WiiU and 3DS ended up as.

Switch they adapted by combining both home console and portable - they saw it was successful and safe so they continued with Switch 2 - hopefully this means they'll keep playing safe and in terms of hardware, just make better iterations with b/c in mind like Playstation is doing post PS3. 

Dont fix what isnt broken.