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My perspective here needs to be taken with some salt in hand.
I'm not one of the younger members of the forum (we have people who played Switch as a kid), but a lot of you are 5-15 years older than me. I played a lot of GameCube, but not much PS2 even to this day. I still want to buy one eventually but haven't bitten the bullet given the large amount of hardware I already have (namely seventh generation onward).
With that perspective of someone who has never owned a PS2 but still played some of it, I think PS2 is better for its time period given its massive dominance in the industry. DualShock 2 reaffirmed in its near identical design that DualShock was the standard gaming controller going forward. PS2 played almost every PS1 game, played CDs and of course DVDs. PS2 had so much going for it.
Switch is probably the better system to me overall given its goated Nintendo library and the flexible play as a hybrid.



Lifetime Sales Predictions 

Switch: 161 million (was 73 million, then 96 million, then 113 million, then 125 million, then 144 million, then 151 million, then 156 million)

PS5: 122 million (was 105 million, then 115 million) Xbox Series X/S: 38 million (was 60 million, then 67 million, then 57 million. then 48 million. then 40 million)

Switch 2: 120 million (was 116 million)

PS4: 120 mil (was 100 then 130 million, then 122 million) Xbox One: 51 mil (was 50 then 55 mil)

3DS: 75.5 mil (was 73, then 77 million)

"Let go your earthly tether, enter the void, empty and become wind." - Guru Laghima