While their older consoles weren't as far away from modern stuff as the Switch, Nintendo wasn't often the more powerful console. Well-designed with good developer buy-in and incredibly strong first party titles, but not really pushing the envelope in terms of raw performance.

The GameCube was the weakest hardware-wise between the PlayStation 2, Xbox, and Dreamcast. The Nintendo 64 was weaker than the PlayStation or Sega Saturn.The Super Nintendo had less computing capacity than the Mega Drive/Genesis.

Even when it came to handhelds, the GameBoy was often much weaker hardware. Compare the GameBoy to the Lynx on a spec sheet and it's clear which is better. Actually hold and play both of them and you can see why Atari doesn't exist anymore. The Game Gear was practically the current gen home console in a handheld form and could even get a TV tuner attachment before the GameBoy Color was even announced. Later, the Genesis Nomad was a full blown Genesis console in handheld form. Good games, cheaper hardware, better pocketability led to Nintendo dominating that market despite usually having the weakest hardware around.