Historically, who has been more impressive at pushing Nintendo hardware, Nintendo themselves or third parties?

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So far on Switch 2, most of the technically impressive software has been from third parties with games like Star Wars Outlaws, Indiana Jones, RE Requiem, Pragmata, and the like, while Nintendo has been more conservative visually.

Looking back, who do you feel has historically done a more impressive job at pushing Nintendo hardware to its limits, Nintendo themselves, or outside studios?