In the cases where Nintendo "lagged" others, it was mostly for good reasons; an example is the shift to optical media, which Nintendo resisted because they didn't want the user to have to wait for load times. Ultimately, cartridges were proven to be untenable long-term, but that doesn't mean Nintendo was "not innovative" in their principled choice to prioritize user experience over giving game devs extra space.
Analog sticks ? Didn't Sega had the Nights controller with analog sticks around the same period, for the Saturn ?
Four ports... wow, that's innovation ! You mean, everyone else could do it with a peripheral, but because Nintendo suddenly integrates 4 ports on the console, they "invented it" ? You had 4 ports extensions for about every 16 bit console out there to play Bomberman, already. Nothing new, really.
Four way split screens ? Guess you never heard of Hired Guns? Yeah you can argue that was not real-time 3D, yet that was already four way, multiplayer split screen in the very early 90s. Way before the N64.
Seriously, consoles ALMOST did not invent anything, and if they did, it's usually Sega who was at the helm of innovation most of the time - they released a 16 bits 2 years before Nintendo did. They released a 32 bits 2 years before Nintendo did, etc...
- Nintendo experimented with a CD add on (with Sony) for the SNES. It eventually became the Playstation. - They released the Double Density Drive addon for N64 (probably a failure). - Mario 64 was the first really 3D platformer, and was groundbreaking. - The weird looking controller for the N64 had an analogue stick before anyone else. - Rumble packs - N64 came with four ports for four-way split screens
They're just off the top of my head.