As for their systems being "behind", the xbox and playstation motion sensing controllers came _after_ the Nintendo Wii made them popular. The Switch came with a new idea of a console which is both a handheld and one connected to a television. The 3DS came with a lenticular 3D display. Unless you measure being ahead/behind in the sole axis of computational power, they are setting trends and taking gaming to new places.
They are a serious pain when it comes to how they hound fanmade products which might feature any of their IP, have a substandard system for online play, or a poor developer experience but being of sub-par quality is definitely more in microsoft's department than Nintendo's.