I think it would have burned people more if it didn't come out, even if they wouldn't have liked it or bought it.
Probably would have had to have significant redesigns​ like BotW, but I'm not sure it would have improved it, beyond satisfying people that hate motion controls.
I think it would sell better but it wouldn't have sold more consoles. Basically what I'm saying is Nintendo would trade goodwill with Wii U owners for goodwill with Switch owners. And the additional development time would not justify the additional sales, unless they basically decided to start over and give Platinum more free reign.