What I meant by Sakurai "figuring it out" is determining what exactly was missing from the original Kirby Air Ride, and providing that this time*, while also making a racing game that is fun enough, and differentiated enough, that it deserves to launch alongside Mario Kart World. I do carry a bit of salt here, because I would have rather seen Nintendo produce a new F-Zero instead of another Kirby racer.
*I have finished the 2003 Kirby Air Ride, so have an informed opinion, from my HLTB: