Sounds like you are misled by the combination of heightened demand during the holiday season and low supply. The PS5 has been selling ~400k per week leading up to Christmas, so it's not a surprise that demand outstripped supply. But it shouldn't take long for Sony to sort that out, going into a slow period for new game releases in combination with a high price for the console.
Aside from that, the PS5 will continually be compared to Switch and people already know that Switch's fourth year was notably higher than that of any PS console in history. If you want to be optimistic, you could count on 2025 being the time when people will first believe that the PS5 can outsell Switch, but that obviously requires a combination of beastly PS5 sales through 2024 and a significant decline of Switch sales starting soon, both being unlikely.
On topic: The PS5 will, but the XSX|S will fall short by a small amount.
Switch should be replaced sooner rather than later, let´s say 2023/2024. Ps5 will be peaking in 2023/2024 with 25M+ yearly sales.
Ps5 will definitely crush Switch/Ps4, Next Gen Nintendo Console is a whole nother history & i predict if done right it´ll be the best selling Console of all time by Nintendo because Switch Momentum + even more 3rd party support thanks to new Tech like DLSS.
The only thing i´m sure is Ps5 crushing Switch and Ps4 easily, Sony needs to sort supply but this Console will be a hot item for a long long loooong time. i totally expect Ps5 and Switch to CRUSH 2021 btw.
Ps5 - 140M+ <150M
Switch - 130M+ <140M
Ps4 - 120M+ <130M if Sony drops to 199e and doesn´t ignore the system
Nintendo Next System - 150M+ <170M