Cook was a good CEO. Definitely A tier.
I don't think that Nvidias board will have any problem though finding an A tier CEO to run the company.
They probably will not get an S-tier visionary, but mature companies with deeply established roots don't necessarily need that like nascent companies do.
If someone else that wasn't directly trained by Jobs for years was hired, i'd argue that the culture would start to falter because one thing slides somewhere, then another, then another an soon enough 'A players' don't want to sacrifice their core years at a company that isn't instilling the values they want to work under. Cook himself almost went down that path with his budding career at Compaq. His family thought he was nuts to leave the growing company for Apple of all places. They didn't see the values that Cook saw in Jobs.